motor speed control of a surgical stapling and cutting instrument based on an 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 outside a predetermined acceptable range, the control circuit can create dynamic braking to resist unwanted movement by the end actuator. The control circuit can apply pulse width modulated current (MLP) so that it resists unwanted movement of the end actuator outside a predetermined acceptable range.
公开号:BR112019026917A2
申请号:R112019026917-7
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 stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the cutting element speed during a firing stroke to take into account tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to 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] When using a motorized surgical cutting and stapling instrument, it is possible that the end actuator can articulate or articulate additionally in an undesirable manner due to externally applied loads. Therefore, it may be desirable to keep the end actuator joint in a stationary position and avoid an additional end actuator joint or joint due to externally applied loads. SUMMARY
[004] [004] In one aspect, a surgical instrument is provided. The surgical instrument may include an end actuator, a pivot joint and a pivot member. The pivot member can be translatable with respect to the end actuator over a distance from a proximal position 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 position to the distal position. The engine can include an engaged condition, a disengaged condition and a hold condition. The surgical instrument may additionally include a control circuit coupled to the motor 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 from the position sensor indicating an articulation position of the articulation member; The control circuit can also identify a predetermined limit that corresponds to the articulation position of the articulation member; The control circuit can additionally determine a motor control action, when the motor is in the disengaged condition, in response to a movement of the articulation member that exceeds the predetermined limit; The control circuit can control the movement of the pivot member where controlling the movement of the pivot member comprises engaging the motor so that it is in the holding condition.
[005] [005] In another aspect, the surgical instrument may include an end actuator and a rotary drive shaft assembly. The rotary drive shaft assembly may include a longitudinal geometry axis, a rotational position sensor and a gear set. The rotational position sensor can be configured to measure the rotation of the rotary drive shaft assembly around the longitudinal axis. The surgical instrument may additionally include a motor operatively 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 set. Rotating the gear set rotates the rotary drive shaft assembly around the longitudinal geometry axis. The surgical instrument may additionally include a control circuit coupled to the motor. The control circuit can be configured to monitor a rotational position of the rotary drive shaft assembly based on a signal from the rotational position sensor; The control circuit can also identify a predetermined limit that corresponds to the rotational position of the rotary drive shaft assembly. The control circuit can additionally determine a motor control action in response to a rotational movement of the rotary drive shaft assembly that exceeds the predetermined limit; The control circuit can also control the rotation of the rotary drive shaft assembly where controlling the rotation of the rotary drive shaft assembly may include resisting the rotation of the rotary drive shaft assembly around the longitudinal geometry axis.
[006] [006] In another aspect, the surgical instrument may include a set of longitudinal drive axes. The longitudinal drive shaft assembly may include a rotary drive shaft that extends along a longitudinal geometry axis. The longitudinal drive shaft assembly additionally comprises a drive gear and a pivot joint. The drive gear can be configured to rotate the rotating drive shaft portion around the longitudinal axis. The pivot joint can include a pivot gear. The surgical instrument can additionally include a drive set. 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 element 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 operatively connected to the articulation gear of the articulation joint. The surgical instrument may additionally include an energy source. The control circuit can comprise an engaged condition, a disengaged condition and a dynamic braking condition. When the control circuit is in the engaged condition, the control circuit provides the power source so that the motor is in a series circuit configuration. When the control circuit is in disengaged condition, the control circuit disconnects the power source from the motor. When the control circuit is in the dynamic braking condition, the control circuit places the power source in a parallel circuit condition with 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 one aspect of this disclosure.
[0010] [0010] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this disclosure.
[0011] [0011] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this disclosure.
[0012] [0012] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this disclosure.
[0013] [0013] Figures 5A to 5B is a block diagram of a control circuit of the surgical instrument of 1 that comprises two drawing sheets, according to one aspect of this disclosure.
[0014] [0014] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the cable assembly, the power assembly and the cable assembly and the interchangeable drive shaft assembly, according to with an aspect of the present revelation.
[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 disclosure.
[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 disclosure.
[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 disclosure.
[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 a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of the present revelation.
[0019] [0019] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a control circuit board assembly and the relative alignment of the sensor array elements, according to one or more aspects of this revelation.
[0020] [0020] Figure 12 is a diagram of a position sensor that comprises a rotating magnetic absolute positioning system, according to an aspect of the present disclosure.
[0021] [0021] Figure 13 is a cross-sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present disclosure .
[0022] [0022] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present disclosure.
[0023] [0023] Figure 15 illustrates a diagram plotting two displacement limb courses performed, according to one aspect of the present disclosure.
[0024] [0024] Figure 16 is a partial perspective view of a portion of an end actuator of a surgical instrument showing an elongated drive shaft assembly in a non-articulated orientation with portions thereof omitted for clarity according to a aspect of the present revelation.
[0025] [0025] Figure 17 is another perspective view of the end actuator of Figure 16 showing the elongated drive shaft assembly in an unarticulated orientation in accordance with an aspect of the present disclosure.
[0026] [0026] Figure 18 is a perspective view of the exploded assembly of the end actuator of Figure 16 showing the aspect of elongated drive shaft assembly according to an aspect of the present disclosure.
[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 disclosure.
[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 disclosure.
[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 disclosure.
[0030] [0030] Figure 22 represents an example of an articulation mechanism for articulating an end actuator of a surgical instrument in accordance with an aspect of the present disclosure.
[0031] [0031] Figure 23 is a graph of an angle of a firing rod and of a motor duty cycle as a function of the angle of articulation of the end actuator according to an aspect of the present disclosure.
[0032] [0032] Figure 24 is a graph of a motor duty cycle as a function of the rotation of the driving shaft of a surgical instrument according to an aspect of the present disclosure.
[0033] [0033] Figure 25 is a circuit diagram and a graph illustrating the circuit configurations of a dynamic engine braking system of a surgical instrument in accordance with an aspect of the present disclosure.
[0034] [0034] Figure 26 represents an example of an articulation mechanism for articulating an end actuator of a surgical instrument in accordance with an aspect of the present disclosure.
[0035] [0035] Figure 27 is a logic flow diagram of a process that represents a program configuration or control logic that represents an articulation control program according to an aspect of the present disclosure.
[0036] [0036] Figure 28 is a logic flow diagram of a process that represents a program configuration or control logic that represents a rotational control program in accordance with an aspect of the present disclosure. DESCRIPTION
[0037] [0037] 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:
[0038] [0038] Attorney Document No. END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0039] [0039] Attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0040] [0040] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0041] [0041] Attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0042] [0042] Attorney document number END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY by the inventors Frederick ES. Shelton, IV et al., Filed on June 20, 2017.
[0043] [0043] Attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
[0044] [0044] Attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0045] [0045] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0046] [0046] Attorney document number END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0047] [0047] Attorney document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0048] [0048] Attorney document number END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0049] [0049] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED
[0050] [0050] Attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0051] [0051] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0052] [0052] 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,
[0053] [0053] Attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0054] [0054] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0055] [0055] The applicant for the present application holds the following design patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0056] [0056] Attorney Document No. 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.
[0057] [0057] 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.
[0058] [0058] 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.
[0059] [0059] 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 disclosure.
[0060] [0060] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, where "proximal" refers to the portion closest to the doctor and the term "distal" refers to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0061] [0061] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or one through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft of the surgical instrument can be advanced.
[0062] [0062] Figure 1 to 4 illustrates a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a cable assembly 14 that is configured to be picked up, handled and operated by the physician. The housing 12 is configured for operational attachment 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 connection with robotically controlled surgical systems. The term "compartment" can encompass 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 sets of drive shaft. 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. The interchangeable drive shaft assemblies disclosed herein 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.
[0063] [0063] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled thereto, in accordance with an aspect of this disclosure. The housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 therein. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. Enclosure 12 can be used effectively 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 actuator arrangements tips adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten 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.
[0064] [0064] The cable assembly 14 may comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable 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 thereto. A screen can be provided under a cover 45.
[0065] [0065] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by the structure 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "unacted" position to an "acted" position and, more particularly, to a fully compressed or completely actuated.
[0066] [0066] The cable assembly 14 and the structure 20 can operationally support a firing drive system 80 configured to apply firing movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 can employ an electric motor 82 located in the pistol grip portion 19 of the cable assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a maximum rotation of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The electric motor 82 can be powered by a power supply 90 which can comprise a removable power source 92. The removable power source 92 can comprise a portion of the proximal compartment 94 that is configured for attachment to a portion of the distal compartment 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to support operationally 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
[0067] [0067] The electric motor 82 may include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reduction assembly 84 mounted on coupling coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0068] [0068] 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 at anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The cable 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 cable 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.
[0069] [0069] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position.
[0070] [0070] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge 304 inside. The end actuator 300 may include an anvil 306 that is pivotally supported in relation to the elongated groove 302. The interchangeable drive shaft assembly 200 may include a pivot joint 270. The construction and operation of end actuator 300 and pivot joint 270 are shown in US patent application publication No. 2014/0263541, entitled
[0071] [0071] Returning to Figure 1, the closing tube 260 is translated 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 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.
[0072] [0072] Figure 3 is another view of the exploded set of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a portion distal cutter or cutter bar 280. The firing member 220 can be called a "second drive shaft" or a "second drive shaft assembly". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a tab 284 at the proximal end 282 of the cutter bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and may comprise a slide joint 286. The slide joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot end actuator 300 around pivot joint 270 without moving, or at least without substantially moving the cutter bar 280. When 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 cutting bar 280 and fire a staple cartridge positioned inside the channel 302. The back 210 it has an elongated opening or window 213 inside to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside 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 drive shaft structure 212 to enclose intermediate trigger drive shaft 222 and cutter bar 280 itself. Operation of trigger member 220 can be seen in US Patent Application Publication No. 2014/0263541. The central column 210 can be configured to slide support a firing member 220 and the closing tube
[0073] [0073] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple articulation actuator 230 to the firing member
[0074] [0074] The interchangeable drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The flange of the proximal connector 604 may comprise a first face and the flange the distal connector 601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, where each contact corresponds and is in electrical contact with one of the conductors
[0075] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable 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.
[0076] [0076] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this disclosure. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow the anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and surgical staple cartridge
[0077] [0077] The I-shaped rod 178 may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the 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-shaped rod 178 can slide through the aligned longitudinal slits 193, 197 and 189, where, as shown in Figure 4, the base 186 of the I-shaped rod 178 can engage a groove positioned along the lower surface of the elongated channel 302 along the length of 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 the anvil 306. The stem with I-shaped profile 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is advanced 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-shaped rod 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions.
[0078] [0078] Figures 5A and 5B show 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 disclosure. Referring mainly to Figures 6A to 6B, a cable 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 several ways, the motor 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the power set 706 releasably mounted to the cable set 200 to supply control power to the surgical instrument 10. The power set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries, which can be separably coupled to the power supply 706.
[0079] [0079] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with corresponding electrical drive shaft assembly connectors and a second interface portion 727 which can include one or more connectors for coupling coupling with the corresponding power pack electrical connectors to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply assembly 706 are coupled s to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the controller management module can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the 704 fixed drive shaft assembly. The connectors can comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0080] [0080] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located in the assembly cable 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are attached to cable assembly 702.
[0081] [0081] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0082] [0082] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0083] [0083] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit can be configured to modulate the battery's output power based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power set 706 and the current sensor circuit 736 can be employed to monitor the power output of the power set 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output the supply set 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0084] [0084] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. Drive shaft assembly controller 722 and / or power management controller 716 may provide feedback to a user of the surgical instrument 2000 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0085] [0085] The control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each of the circuit segments can be coupled to the safety controller and / or to the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as a printed circuit board (PCBA) assembly inside the energized surgical instrument
[0086] [0086] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0087] [0087] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0088] [0088] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft set 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters, and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the energized surgical instrument 10.
[0089] [0089] The position encoder segment (segment 6)
[0090] [0090] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0091] [0091] 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.
[0092] [0092] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, 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.
[0093] [0093] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot for the right side, one for the right pivot for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0094] [0094] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0095] [0095] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the cable assembly 702 and the power supply 706 and between the cable assembly 702 and the cable assembly. interchangeable drive shaft 704, in accordance with an aspect of the present disclosure. Cable assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. Power assembly 706 may include a power assembly connector 732, a power management circuit power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power requirements of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the power pack tion 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the cable assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described herein.
[0096] [0096] 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, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0097] [0097] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Control circuit 800 can be configured to implement various processes described in this document. 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 may be any one of several single-core or 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 instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from the memory circuit
[0098] [0098] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10
[0099] [0099] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described 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, a clock 829 and, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data through the combinational logic circuit 822, and provide an output 828. In other respects, the circuit may comprise a combination of the 802 processor and the finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[00100] [00100] Aspects can be implemented in the form of a manufacturing article. The manufacturing article may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
[00101] [00101] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises a motor controlled drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with one aspect of the present disclosure. Position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member 1111. Back to Figures 2 to 4, in one aspect, displacement member 1111 represents a limb longitudinally movable drive 120 (Figure 2) comprising a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. In other respects, the displacement member 1111 represents the member trigger 220 (Figure 3), which 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 I-shaped rod 178 (Figure 4), each of which can be adapted and configured to include a rack of teeth drive. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument 10, such as the driving member 120, the firing member 220, the firing bar 172, the stem with I 178 profile, or any element that can be moved. In one aspect, the longitudinally movable driving member 120 is coupled to the firing member 220, the firing bar 172 and the I-shaped rod 178. Consequently, the absolute positioning system 1100 can, in effect, track linear displacement of the I-shaped rod 178 by tracking the linear displacement of the longitudinally movable driving member 120. In several other aspects, the displacement member 1111 can be coupled to any suitable sensor to measure the linear displacement. In this way, the longitudinally movable drive member 120, the firing member 220, the firing bar 172, or the I-shaped rod 178, or combinations thereof, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise variable differential linear transformers (LVDT), variable reluctance differential transducers (DVRT), a potentiometer, a magnetic detection system comprising a moving magnet and a series linearly arranged in Hall effect sensors, a system magnetic detection system comprising a fixed magnet and a series of furniture, linearly arranged in Hall effect sensors, a mobile optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system which comprises a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors, or any combination thereof.
[00102] [00102] An electric motor 1120 may include a rotary drive shaft 1116 that, operationally, interfaces with a set of gears 1114 that is mounted in coupling hitch with a set, or rack, of drive teeth on the drive member. displacement 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member 1111. An array of gears and sensors 1118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power source 1129 supplies power to the absolute positioning system 1100 and an output indicator 1128 can show the output of the absolute positioning system 1100. In Figure 2, the drive member 1111 represents the longitudinally movable drive member 120 which comprises a drive tooth rack 122 formed therein for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. The displacement member 1111 represents the longitudinally movable firing member 220, the firing bar 172, the stem with I 178 profile, or combinations thereof.
[00103] [00103] A single revolution of sensor element 1126 associated with position sensor 1112 is equivalent to a longitudinal linear displacement d1 of displacement member 1111, where d1 represents 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 position sensor 1112 completing one or more revolutions for the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the full travel of the travel member 1111.
[00104] [00104] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the position sensor 1112. The state 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 output 1124 of the position sensor 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements, which emit a unique combination of signal position or values.
[00105] [00105] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the energization of the instrument without having to retract or advance the driving member 1111 to the restart position (zero or initial), as may be the case. case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[00106] [00106] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. Electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with an articulation or scalpel 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 No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR
[00107] [00107] 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.
[00108] [00108] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an absolute positioning system 1100 is coupled to a digital data capture system in the which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control circuit, that trigger the calculated response towards the measured response . The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input which will be the states and outputs of the physical system. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[00109] [00109] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide (MOSFET) field transistors. , N-channel, 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 excess voltage to that supplied by the battery needed for the N channel MOSFETs. An internal charge pump for the upper side drive allows operation in direct current (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 readily replaced for use in the 1100 absolute positioning system.
[00110] [00110] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor arrangement 1102, the disclosure now turns to Figures 11 to 12 for a description of an aspect of a sensor arrangement 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 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204 that rotates each complete stroke of the displacement member 1111 and a gear set 1206 to provide a gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable drive member 120 comprising a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to Figure 11, a structural element, such as a bracket 1216, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic detection elements, as Hall effect 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.
[00111] [00111] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00112] [00112] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive 1111 moves in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive shaft 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. Thus, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P, corresponds to three rotations of the second gear 1210 and a single rotation of the first gear
[00113] [00113] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable to hold the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A central point 1222 is provided that mates with first gear 1208 and magnetic support 1204. Second gear 1210 and third gear 1212 coupled to shaft 1214 are also shown.
[00114] [00114] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The position sensor 1200 can be implemented as a single integrated circuit magnetic rotary position sensor AS5055EQFT available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution ADC and a 1238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation DIgital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition operations,
[00115] [00115] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transversal to an electric current 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 is stored integrated in the AS5055 1200 position sensor in a register or in a 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, when energizing or upon demand from controller 1104.
[00116] [00116] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00117] [00117] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (approximately 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor suspends to a de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. 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%).
[00118] [00118] Figure 13 is a sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the rod with I-shaped profile 2514 in relation to the tissue 2526 trapped inside the actuator end 2502, in accordance with an aspect of the present disclosure. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a staple cartridge 2518 positioned in the elongated groove 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-shaped rod 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00119] [00119] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The exemplifying tissue 2526 is also shown aligned with end actuator 2502. The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the I-profile rod 2514, the I-profile rod 2514 can be advanced distally from the start position 2527 to the end position 2528. The I 2514 profile rod is shown in an exemplary location of the 2527 start position. The 2529 stroke profile of the I 2514 profile rod illustrates five regions of trip member 2517, 2519, 2521, 2523 and 2525. In a first region of the trip course 2517, the I-shaped rod 2514 can begin to advance distally. In the first region of the firing stroke 2517, the I-shaped rod 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. After the static friction is overcome, the force to drive the rod with I-profile 2514 in the first region 2517 can be substantially constant.
[00120] [00120] In the second travel region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric
[00121] [00121] As discussed above and with reference now to Figures 10 to 13, 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 firing system of the drive shaft assembly, which includes the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or incise the tissue captured inside the end actuator 2502. The 2514 I-shaped rod can be advanced or retracted at a desired speed or within a desired speed range. Controller 1104 can be configured to control the speed of the I-profile rod 2514. Controller 1104 can be configured to predict the speed of the I-profile rod 2514 based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operating parameters of the 1122 electric motor or external influences. Controller 1104 can be configured to predict the current speed of the I-shaped profile 2514 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 2514 I-shaped rod using the absolute positioning sensor system described in this document. The controller can be configured to compare the predicted speed of the I-profile rod 2514 and the detected speed of the I-profile rod 2514 to determine if the power to the 1122 electric motor needs to be increased in order to increase the speed of the rod with I 2514 profile and / or reduced in order to decrease the speed of the I 2514 profile rod. US patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, is hereby incorporated by reference in its entirety . US patent no.
[00122] [00122] The force acting on the rod with I 2514 profile can be determined using various techniques. The strength of the I-profile rod 2514 can be determined by measuring the motor current 2504, where the current of the engine 2504 is based on the load experienced by the I-profile rod 2514 as it advances distally. The strength of the rod with I 2514 profile can be determined by placing a tension meter on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the rod with I 2514 profile (rod with I-profile 178, Figure 20), on the trigger bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the I-profile rod 2514 can be determined by monitoring the actual position of the rod with I-2514 profile that moves at an expected speed based on the set current speed of the 2504 motor after a predetermined elapsed period T1 and by comparing the actual position of the I-2514 profile rod with the expected position of the profile rod in I 2514 based on the set current speed of the motor 2504 at the end of the T1 period. Thus, if the actual position of the I 2514 profile rod is less than the expected position of the I 2514 profile rod, the force on the I 2514 profile rod is greater than a nominal force. On the other hand, if the actual position of the rod with I 2514 profile is greater than the expected position of the rod with I 2514 profile, the force on the rod with I 2514 profile is less than the nominal force. The difference between the actual and expected positions of the I-2514 shaped rod is proportional to the force deviation in the I-2514 shaped rod from the nominal force. These techniques are described in the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[00123] [00123] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present disclosure. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile stem 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00124] [00124] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Because the rod with I-shaped profile 2514 is coupled to a longitudinally movable driving member 120, the position of the rod with profile in I 2514 can be determined by measuring the position of the longitudinally movable driving member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the closing member 2514 can be obtained by the position sensor 2534, as described in the present invention. A control circuit 2510, such as control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the I-shaped rod 2514, as described in connection with Figures 10 to
[00125] [00125] The control circuit 2510 can generate a motor setpoint signal 2522. The motor setpoint signal 2522 can be provided for a motor controller 2508. The motor controller 2508 can comprise one or more circuits configured to provide a motor drive signal 2524 to motor 2504 to drive motor 2504 as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor drive signal 2524. In some instances, motor 2504 may be a brushless DC electric motor and motor drive signal 2524 may comprise a pulse width modulated (PWM) signal supplied to one or more stator windings motor 2504. In addition, in some examples, the motor controller 2508 can be omitted, and control circuit 2510 can generate the motor 2524 drive signal directly.
[00126] [00126] The 2504 motor can receive power from a power source
[00127] [00127] The control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to operate with the surgical instrument 2500 to measure the various derived parameters, such as the distance the gap in relation to time, the compression of the tissue in relation to time, and the tension of the anvil in relation to time. The 2538 sensors may comprise, for example, a magnetic sensor, a magnetic field sensor, a voltage meter, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor,
[00128] [00128] The one or more 2538 sensors may comprise a strain gauge such as, for example, a microtension gauge configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[00129] [00129] 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 may 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 hold operation by a processor as described in Figures 5A to 5B. The 2510 control circuit receives sample measurements in real time to provide time-based information analysis and real-time assessment of the closing forces applied to the 2516 anvil.
[00130] [00130] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the rod with I-profile 2514 corresponds to the current drained by the motor
[00131] [00131] Using the physical properties of the instruments disclosed in the present invention together with Figures 1 to 14 and with reference to Figure 14, the 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software . A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be one or any of the feedback feedback controllers, including, but not limited to, a PID, state feedback, LQR, and / or an adaptive controller, for example. The 2500 surgical instrument can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example.
[00132] [00132] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or rod with I 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a system articulation and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00133] [00133] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the 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 have been 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.
[00134] [00134] 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, a motor 2504 can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 can comprise an articulating anvil 2516 and, when configured for use, a ultrasonic blade 2518 positioned on the opposite side of anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the axis longitudinal geometric pattern of end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the I-shaped rod 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00135] [00135] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the I-profile rod 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect fabric conditions, such as thickness, as described in this document. The 2510 control circuit can be programmed to select a 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 fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[00136] [00136] In one aspect, control circuit 2510 can initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a 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 translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into one constant speed.
[00137] [00137] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present disclosure. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t 0. The open circuit portion of the travel member travel is an initial period of time that can elapse between t0 and t1-.
[00138] [00138] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trip control program that advances the rod with I-profile 2514 at a constant selected 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 rod with I-profile 2514 to Vlenta speed by monitoring the position of the rod with I-profile 2514 and modulation of the setpoint of the engine 2522 and / or the motor start signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00139] [00139] During the initial time period (for example, the open circuit period) between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the displacement member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[00140] [00140] Figures 16 to 21 illustrate a 2300 end actuator of a 2010 surgical instrument that shows how the 2300 end actuator can be pivoted in relation to the elongated drive shaft assembly 2200 around a 2270 pivot joint accordingly with an aspect of the present revelation. 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 portions thereof 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.
[00141] [00141] With reference now to Figures 16 to 21, the end actuator 2300 is adapted to cut and staple tissue and includes a first gripper in the form of an elongated channel 2302 that is configured to operationally support a surgical staple cartridge 2304. The end actuator 2300 additionally includes a second claw in the form of an anvil 2310 which is supported in the elongated channel 2302 for movement in relation thereto. The elongated drive shaft assembly 2200 includes a hinge system 2800 that employs a hinge lock
[00142] [00142] The central column 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 that is configured to operatively engage the articulation lock 2810. The articulation lock 2810 it further comprises a drive shaft structure 2812 which is attached to the central column 210 in the various ways disclosed in this document. The drive shaft structure 2812 is configured to mobilely support a proximal portion 2821 of a distal hinge driver 2820. The distal hinge driver 2820 is movably supported within the elongated drive shaft assembly 2200 for selective longitudinal displacement in a distal direction DD and a proximal direction PD along a geometry axis of articulation AAA that is displaced laterally and parallel to the geometry axis SA-SA of the drive axis in response to applied articulation control movements at the same.
[00143] [00143] 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 a pivot base portion 2395 of a 2390 end actuator mounting assembly. The 2390 end actuator mounting assembly is fixed 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, pivot) of the end actuator 2300 around the pivot geometric axis BB in relation to the drive shaft structure 2812.
[00144] [00144] As shown in Figure 18, a connecting 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 2398 base pin extending from the bottom of the pivot base portion 2395 of the end actuator assembly
[00145] [00145] Figure 19 shows the articulation joint 2270 in a straight position, that is, at a zero angle θ0 in relation to the longitudinal direction shown as a geometric axis SA of the drive axis according to an aspect. Figure 20 shows the articulation joint 2270 of Figure 19 articulated in one direction at a first angle θ1 defined between the axis SA of the drive shaft and the axis EA of the end actuator according to an aspect. Figure 21 illustrates the articulation 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.
[00146] [00146] The surgical end actuator 2300 in Figures 16 to 21 comprises a surgical cutting and stapling device that employs a trigger member 220 of the various types and configurations described in this document. 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 pivotally and slidably supported in relation to the central column 210. In Figure 18, the intermediate support member 2950 includes a slot 2952 which is adapted to receive inside it a pin 2954 that protrudes from center column 210. This allows the intermediate support member 2950 to rotate and translate with respect to pin 2954 when the surgical end actuator 2300 is pivoted. A pivot pin 2958 protrudes from the underside of the intermediate support member 2950 to be pivotally received into a corresponding pivot hole 2399 provided in the base portion 2395 of the end actuator mounting set 2390. The member intermediate support plate 2950 additionally includes a slot 2960 for receiving a firing member 220 therethrough. The intermediate support member 2950 serves to provide lateral support to the firing member 220 as it flexes to accommodate the surgical end actuator joint
[00147] [00147] The surgical instrument can be additionally configured to determine the angle at which the 2300 end actuator is oriented. In several respects, the position sensor 1112 of the sensor array 1102 can comprise one or more magnetic sensors, analog rotary sensors (such as potentiometers), analog Hall effect sensor arrangements, which emit a unique combination of signals or values of position, for example, among others. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 may further comprise a pivot sensor arrangement that is configured to determine the angular position, i.e., a pivot angle, of the end actuator 2300 and provide a unique position signal corresponding to it.
[00148] [00148] The articulation sensor arrangement can be similar to the sensor arrangement 1102 described above and illustrated in Figures 10 to
[00149] [00149] 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 pivot actuator 230 corresponds to the angle at which the end actuator 2300 is oriented in a known manner, the absolute position of the pivot actuator 230 can be traced and then translated to the angular position of the end actuator 2300. In that In this respect, the surgical instrument comprises an articulation sensor arrangement which is configured to determine the absolute linear position of the articulation actuator 230 and provide a corresponding single position signal. In some respects, the hinge sensor arrangement or the controller operatively coupled to the hinge sensor arrangement is further configured to translate or calculate the angular position of the 2300 end actuator from the single position signal.
[00150] [00150] The articulation sensor arrangement in this aspect can also be similar to the sensor arrangement 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 displacement member 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 Hall effect, and is positioned close 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.
[00151] [00151] In one aspect, a single revolution of a sensor element associated with the position sensor is equivalent to a longitudinal linear displacement d1 of the longitudinally movable articulation driver
[00152] [00152] In several aspects, any number of magnetic detection elements can be used in the articulation sensor arrangement, 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 an articulation sensor arrangement. In other words, the greater the number of magnetic detection elements used, the finer the degree of articulation that can be detected by the articulation sensor arrangement. 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,
[00153] [00153] 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. articulation sensor can be implemented as a single integrated circuit magnetic rotary position sensor AS5055EQFT 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 and low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of the position sensor 1200 which is located above magnet 1202 (Figure 11). A high-resolution 1232 A-D (ADC) converter and a 1238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation DIgital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an AS5055 integrated circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4 x 4 x 0.85 mm.
[00154] [00154] With reference to Figures 1 to 4 and 10 to 21, the position of the articulation joint 2270 and the position of the rod with I-shaped profile 178 (Figure 4) with the sign / value of absolute position feedback can be determined. absolute positioning system 1100. In one aspect, the articulation angle θ can be determined very accurately 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 an absolute positioning system 1100 in which, when the articulation actuator is operationally coupled to the firing member 220 (figure 3) by the clutch assembly 400 (figure 3), for example, the system absolute positioning 1100 can, in practice, track the movement of the articulation system via the drive member 120. As a result of tracking the movement of the articulation system, the instrument controller c The steelmaker can track the pivot angle θ of the end actuator 2300, such as the end actuator 2300, for example. In various circumstances, as a result, the pivot angle θ can be determined as a function of a longitudinal displacement DL of the driving member 120. Since the longitudinal displacement DL of the driving member 120 can be determined precisely based on the sign / absolute position value provided by the absolute positioning system 1100, the articulation angle θ can be determined as a function of a longitudinal displacement DL.
[00155] [00155] In another aspect, the articulation angle θ can be determined by location sensors on the articulation joint 2270. The sensors can be configured to detect a rotation of the articulation joint 2270 using the absolute positioning system 1100 adapted to measure an absolute rotation of the articulation joint 2270. For example, the sensor arrangement 1102 comprises a position sensor 1200, a magnet 1202 and a magnet holder 1204 adapted to detect a rotation of the articulation 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 angle of rotation of the articulation joint 2270. Consequently, as magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 located at the joint articulation 2270. This information is provided to microcontroller 1104 to calculate the articulation angle of the articulation joint 2270. Consequently, the articulation angle of the end actuator 2300 can be determined by the absolute positioning system 1100 adapted to measure an absolute rotation of the articulation joint 2270.
[00156] [00156] In one aspect, the firing rate or speed of the I 178-shaped rod can be varied as a function of the pivot angle of the end actuator 2300 to lower the firing force on the trigger drive system 80 and , in particular, the trigger force of the I-shaped profile 178, among other components of the trigger drive system 80 discussed in this document. To adapt to the variable firing force of the I-shaped rod 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. A motor speed 82 can be controlled by comparing the trigger force of the I-profile rod 178 for different maximum limits based on the articulation angle of the end actuator
[00157] [00157] Several aspects described in this document refer to surgical instruments that comprise sets of rotating and articulating claws 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.
[00158] [00158] 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-shaped rod 2514 that it comprises a cutting edge 2509 for cutting a fabric. The claw set can be articulated and can pivot around a longitudinal geometric axis of the instrument's drive axis. The jaw set can pivot around the wrist pivot axis from a first position in which the jaw set is substantially parallel to the staple cartridge 2518 to a second position in which the jaw set 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". Additionally, 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.
[00159] [00159] In one aspect, a 2500 surgical instrument may include an end actuator 2502, a pivot joint and a pivot member. The pivot member can be translatable with respect to end actuator 2502 over 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 position to the distal position. The 2504 engine can include an engaged condition, a disengaged condition and a hold condition. The surgical instrument 2500 can additionally include a control circuit 2510 coupled to the motor 2504 and a position sensor 2534 coupled to the control circuit 2510. The position sensor 2534 can be configured to detect a position of the pivot member along at least a portion of the distance. The control circuit 2510 can be configured to receive position input from the position sensor 2534 indicative of an articulation position of the articulation 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 in which controlling the movement of the hinge member comprises engaging the motor 2504 so that it is in the holding condition.
[00160] [00160] 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 exceeding the predetermined limit. In maintaining the articulation position, the control circuit can provide pulse width modulation (MLP) of the current (for example, motor drive signal 2514) to motor 2504 in the holding condition to resist limb movement articulation. The 2504 motor may include a brushed direct current (DC) motor. The 2510 control circuit can be configured to internally connect conductors to the brushed DC motor when the 2504 motor is in the hold condition. The 2510 control circuit can include a forward condition, a stop 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 stop 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 the stop condition, the first switch, the second switch, the third switch and the fourth switch are in an open configuration.
[00161] [00161] 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 rotational position sensor and a gear set. The 2534 rotational position sensor 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 operably 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 set. Rotating the gear set rotates the rotary drive shaft assembly around the longitudinal geometry axis. The 2500 surgical instrument can additionally include a 2510 control circuit coupled to the 2504 motor. The 2510 control circuit can be configured to monitor a rotational position of the rotary drive shaft assembly based on a signal from the 2534 rotational position sensor. control circuit 2510 can also identify a predetermined limit that corresponds to the rotational position of the rotary drive shaft assembly. The control circuit 2510 can additionally determine a motor control action 2504 in response to a rotational movement of the rotary drive shaft assembly that exceeds the predetermined limit; The 2510 control circuit 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 around the longitudinal geometry axis.
[00162] [00162] One or more of the following resources may be included. The control circuit can be configured to maintain a rotational position of the rotary drive shaft assembly in response to a rotation of the rotary drive shaft assembly around the longitudinal geometry axis that exceeds the predetermined limit. Maintaining the rotational position may include providing pulse width modulation (MLP) of the chain to the 2504 motor so that it resists rotation of the rotary drive shaft assembly. The 2504 motor may include a brushed direct current (DC) motor. Control circuit 2510 can be configured to internally connect conductors to the brushed DC motor when motor 2504 so that it resists rotation of the rotary drive shaft assembly beyond the predetermined limit.
[00163] [00163] 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 portion comprising a longitudinal geometry axis and a drive gear and articulation joint. The drive gear can be configured to rotate around the longitudinal axis. The pivot joint can include a pivot gear. The 2500 surgical instrument can additionally include a drive 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 element is operatively connected to the drive gear of the rotating drive shaft portion. When the 2510 control circuit is in an articulation condition, the drive member is operatively connected to the articulation gear of the articulation joint. The 2500 surgical instrument may also include an energy source
[00164] [00164] 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 rotational position of the rotating drive shaft portion based on a signal from a position sensor rotational 2534. The control circuit 2510 can identify a predetermined limit 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 rotational movement of the rotating drive shaft portion that exceeds the predetermined limit; The control circuit 2510 can control the rotation of the rotary drive shaft portion wherein controlling the rotation of the rotary drive shaft portion comprises resisting the rotation of the rotary drive shaft portion around the longitudinal geometry axis. When the 2510 control circuit is in the hinge condition and the dynamic braking condition, the control circuit can be configured to monitor a hinge joint hinge position based on a signal from a 2534 hinge position sensor. The control circuit 2510 can identify a predetermined limit that corresponds to an articulation position of the articulation joint. The control circuit 2510 can determine a motor control action 2504 in response to an articulation of the articulation joint that exceeds the predetermined limit. The control circuit 2510 can control the articulation of the articulated joint where controlling the articulation of the articulated joint comprises resisting the articulation of the articulated joint. The 2504 motor may include a DC brush motor and the 2512 power source may include a battery.
[00165] [00165] In several respects, the 2500 surgical instrument may include a single 2504 engine and a clutch or set of gears. The single motor 2504 can be configured to articulate end actuator 2502, rotate the drive shaft of the surgical instrument 2500 and move the firing member of the surgical instrument 2500. A gear or clutch system allows the 2504 motor to transfer energy of the same for the various functions of the 2500 surgical instrument. In one aspect, the 2504 engine and clutch assembly can be configured to engage multiple functions of the 2500 surgical instrument at the same time. This allows, for example, the surgical instrument 2500 to maintain a dynamic hold or resistance condition in relation to the articulation or rotation of the end actuator 2502 and the drive shaft while allowing the firing member to be fired. In another aspect, the surgical instrument 2500 may include separate motors 2504 for articulating the end actuator 2502, rotating the drive shaft and firing the end actuator
[00166] [00166] Now reference will be made, in detail, to various aspects,
[00167] [00167] Figure 22 represents an example of an articulation mechanism 3000 for articulating an end actuator of a surgical instrument in accordance with an aspect of the present disclosure. Referring also to Figure 14, the pivot mechanism 3000 includes a pivot joint 3006 that allows a distal arm 3014 of the surgical instrument 2500 to pivot or pivot with respect to a proximal arm 3016 of the surgical instrument 2500. The pivot joint 3006 can be articulated through the actuation of the articulation member / stem 3008. The articulation member / stem 3008 can have a degree of displacement 3012. In one aspect, the overall degree of displacement can be 0.304 ". However, in other respects, the degree of displacement 3012 can be greater or lesser The stem / articulation member 3008 can be operationally coupled to a motor 2504 or actuator that is controlled by a control circuit 2510. In the control of the desired articulation of the distal arm 3014 in With respect to the proximal arm 3016 of the 2500 surgical instrument, the 2500 surgical instrument can include 2534 sensors to detect joint movement. In one aspect, a distal arm sensor can det etect the articulation angle of the distal arm 3014 in relation to the proximal arm 3016 of the surgical instrument 2500. The distal arm sensor can communicate to the control circuit 2510, using various means of communication, for example, wired or wireless means , the location of the distal arm 3014 in relation to the proximal arm 3016 of the surgical instrument 2500. In addition, or alternatively, the surgical instrument 2500 may include a joint joint sensor 2534 that detects and communicates the articulated position of the distal arm 3014 with respect to to the proximal arm 3016 for the control circuit 2510. Additionally, or alternatively, the surgical instrument 2500 may include a hinge rod sensor that measures and detects the displacement of the hinge member 3008 as discussed with reference to Figures 16 to 21. The displacement measured by the 2534 articulation sensor may be related to the articulation displacement of the distal arm 3014 and be reported to the cir control loop 2510.
[00168] [00168] In operation, the articulation mechanism 3000 of the surgical instrument 2500 can be articulated by a technician to allow the end actuator 2502 of the surgical instrument 2500 to reach a desired location within a patient. Once the desired hinge is obtained, the motor 2504 can be deactivated and placed in a hold condition by the control circuit 2510 to allow the hinge mechanism 3000 to maintain its hinged position. During surgery, an external resistance or force 3002 can act on the end actuator or distal arm 3014 of the surgical instrument. With the motor in the holding condition, the control circuit 2510 can 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 hinge angle 3004 exceeds a predetermined hinge limit, control circuit 2510 can activate a motor retention feature 2504 to resist proportionally to the translated forces 3010a-d acting on the 2500 surgical instrument.
[00169] [00169] Figure 23 illustrates a 3100 graph of an angle of a firing rod and a motor duty cycle as a function of the angle of articulation of the end actuator according to an aspect of the present disclosure. The graph 3130 at the top represents the displacement (δ) of the firing rod along the vertical geometric axis 3122 as a function of an articulation angle in degrees (°) along the horizontal geometric axis 3120. Referring also to Figure 14, when the stem / hinge member 3008 is within a predetermined range of travel 3108, the control circuit 2510 triggers a deactivated condition of the motor 2504. The predetermined range of travel 3108 of the hinge rod 3008 corresponds to an allowable range of angles of hinge 3102 for the distal arm hinge 3014. When the predetermined range 3108 and / or the allowable range 3102 are exceeded, control circuit 2510 activates a resistive holding mode of the motor 2504 to resist or neutralize forces applied to the distal arm 3014 and retain the distal arm 3014 and the articulation rod 3018 within the predetermined / allowed ranges 3108, 3102.
[00170] [00170] Graph 3132 at the bottom of Figure 23 represents the motor duty cycle (%) along the vertical geometric axis 3126 as a function of the articulation angle in Degrees (°) along the horizontal geometric axis 3120. According to the degree of articulation angle of the distal arm 3104 departs further and further from the predetermined limit of articulation angles 3102 due to externally applied forces, the motor 2504 applies a force to resist unwanted articulation for an extended period. In other words, the engine duty cycle increases as the pivot angle moves further and further away from a predetermined limit 3102. As an example, the graph 3132 at the bottom of Figure 23 represents an end actuator 2502 with an angle desired -60 ° pivot point. The allowable range 3102 of pivot angles extends to -55 °. When end actuator 2502 is pivoted to a degree that falls within the allowable range 3102, the motor duty cycle is minimal. However, as the pivot angle exceeds the allowable range limits 3102, the control circuit 2510 begins to respond more vigorously by activating the 2504 motor resistive containment mode, thus increasing the motor duty cycle. In addition to increasing the engine duty cycle, articulating an end actuator 2502 to a degree that deviates from the allowable range 3102 can increase the actuation force, or torque, of the 2504 engine. The shaded region 3112 indicates an initial engine restriction 2504 required as the pivot angle begins to exceed the allowable range limits 3102. The shaded region 3110 indicates a progressive engine restriction 2504 required as the pivot angle continues to exceed the allowable range limits 3102. In one aspect, energy applied to the motor 2504 to resist externally applied forces does not induce additional articulation and / or movement of the end actuator 2502, but prevents any additional unwanted movement outside the predetermined range 3102. In other aspects of the present description, the energy applied to the motor 2504 to resist externally applied force can cause the 2502 end actuator to pivot or rotate back to the previously defined position.
[00171] [00171] Figure 24 illustrates a 3200 graph of a motor duty cycle as a function of a drive shaft rotation in accordance with an aspect of the present description in accordance with an aspect of the present disclosure. Graph 3200 represents a motor duty cycle along the 3222 vertical geometry axis as a function of a Degrees (°) drive axis rotation along the 3220 horizontal geometry axis. Referring also to Figure
[00172] [00172] In one aspect, the conductors for a DC motor of the 2500 surgical instrument, when in disengaged condition, can be connected internally. The internal connection of the DC motor conductors can result in an internal magnetic resistance inside the motor to prevent accidental reverse activation of the 2504 motor, caused by externally applied forces applied to the 2502 end actuator. Dynamic and regenerative braking can be achieved with MLP, brushless, brushless and / or stepper DC motors to retain the hinge portions at the desired location of the 2502 end actuator. Additionally, or as an alternative, the various dynamic braking mechanisms can be combined with mechanical locks to maintain the desired rotational or articular position of the end actuator. In addition, or as an alternative, the natural resistance of a 2504 motor with shorted coils can be combined with mechanical braking or locking as a passive method to perform a station maintenance function of an articulated or rotated system.
[00173] [00173] Figure 25 illustrates a 3300 control circuit according to the various aspects discussed above according to one aspect of the present disclosure. Circuit 3300 includes a power source 3306, a motor 3308 and a plurality of switches 3301, 3302, 3303, 3304. The circuit can additionally include an alternative key 3305. Switches 3301 to 3305 each allow circuit 3300 to be configured to operate motor 3308 in forward mode, reverse mode, resistance or braking mode and stop 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. Drive mode allows motor 3308 and power source 3306 to be operated in a series configuration with motor 3308 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. Reverse mode allows motor 3308 and power source 3306 to be operated in a series configuration with motor 3308 operating in the reverse direction. Table 1 below illustrates the various 3300 circuit configurations discussed in the present invention.
[00174] [00174] In one aspect, the braking mode can use static holding load to provide resistance to external forces on the joint or the rotation of the distal portion of a surgical instrument. When circuit 3300 is in the 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 mode allows motor 3308 and power source 3306 to be operated in a static configuration with the circuit configuration creating a static hold. In another aspect, the braking mode can use static holding load to provide resistance to external forces on the joint or the 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 3305 can be in the open condition while switch 3305 can be in the closed condition. This braking mode allows the 3308 motor to be isolated from the 3306 power source. While in this braking mode, the 3308 motor is in a closed loop configuration isolated from the power source with the circuit configuration creating a static retention.
[00175] [00175] In another aspect, the braking mode can use a dynamic holding load to provide resistance to external forces on the joint or the rotation of the distal portion of a surgical instrument. When circuit 3300 is in dynamic braking mode, switches 3303, 3304 and 3305 can be in the open condition while switches 3301 and 3302 can be in the closed condition. This dynamic braking mode allows the motor 3308 and power source 3306 to be operated in a configuration parallel to the circuit configuration creating a dynamic hold. When forces act on the motor while in dynamic braking mode, the parallel configuration of the circuit creates a resistance at an output of the motor to resist any external forces operating on the motor. In another aspect, the stop mode can allow the motor to run freely without any resistance from the circuit. When circuit 3300 is in stop mode, switches 3301, 3302, 3303, 3304, 3305 may be in open condition. This mode allows the 3308 motor and the 3306 power source to be completely disconnected from each other without any resistance created in the 3308 motor.
[00176] [00176] Figure 26 illustrates a 3400 rotatable and articulating drive shaft assembly of a surgical instrument in accordance with an aspect of the present disclosure. 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 3400 drive shaft. The 3400 drive shaft assembly may be allowed to rotate within a float limit or span 3412. However, when an external force 3402 causes the drive shaft assembly 3400 to rotate beyond a rotational limit 3414, control circuit 2510 can activate a resistance or hold condition on the motor 3308 (2504 ) as discussed above with respect to Figures 22 to 25. When control circuit 2510 activates the hold condition, motor 3308 (2504) can be energized and apply a force 3410 to counteract the external rotation force 3402. The force 3410 applied by motor 3308 (2504) may include a passive or active resistive force as discussed above with respect to Figures 22 to 25.
[00177] [00177] Through the active MLP and the current step resistance of the 2510 control circuit and the dynamic and passive resistance of the control circuit configurations, the 2510 control circuit can resist an unwanted rotation or hinge of an end actuator caused by external forces. These retention conditions of the 2510 control circuit allow the end actuator to remain within a desired position during a surgical procedure.
[00178] [00178] 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 2510 control circuit) to resist and control the 2502 end actuator joint caused by outside forces. Control circuit 2510 can receive 3432 an initial link signal. The initial pivot signal can be received 3432 from the pivot sensor once the end actuator 2502 is in a desired pivot position. For example, a clinician can place the end actuator 2502 in a desired position and then squeeze 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.
[00179] [00179] Once the end actuator 2502 has been 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 the allowed displacement of the end actuator 2502. For example, the surgical instrument 2500 can transition from the articulation mode to the trigger mode via transmission 2506 When in trip mode, control circuit 2510 can monitor the articulation position of end actuator 2502.
[00180] [00180] The control circuit 2510 can receive 3438 a current articulation signal.
[00181] [00181] 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.
[00182] [00182] 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.
[00183] [00183] 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 caused by external forces. The control circuit 2510 can receive an initial rotation signal 3462. The initial rotation signal can be received 3462 from the rotation sensor once the drive shaft assembly 200 is in a desired rotational position. For example, a clinician can place the drive shaft assembly 200 in a desired rotational position and then squeeze 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.
[00184] [00184] Once the drive shaft assembly 200 is placed at the desired rotational position, the control circuit 2510, in response to the initial rotation signal, can determine 3464 an initial rotational position of the drive shaft assembly 200 from rotational signal. By determining the initial rotational position 3464, the control circuit 2510 can identify 3466 a predetermined limit for displacement of the drive shaft assembly 200. For example, the surgical instrument 2500 can switch from rotational to trigger mode via transmission 2506. When in trip mode, control circuit 2510 can monitor the rotational position of drive shaft assembly 200.
[00185] [00185] The control circuit 2510 can receive 3468 a current rotational signal. The current rotational signal can be received 3468 from the rotation sensor once the drive shaft assembly 200 is in the trigger mode to monitor the position of the drive shaft assembly 200 during the trigger mode. The current rotational signal can be received 3468 from a rotation sensor. The control circuit 2510, in response to the current rotational signal, can determine 3470 a current rotational position of the drive shaft assembly 200 from the current rotational signal. Control circuit 2510 can compare 3472 the current rotational position of the drive shaft assembly 200 against the first rotational position and the predetermined limit for an allowed rotational displacement of the shaft assembly 200. If the current rotation position of the drive shaft assembly 200 exceeds the predetermined limit 3474, then the control circuit 2510 will control 3480 the rotation of the drive shaft assembly 200 by engaging the 3482 motor retention condition 3308 (2504). For example, when control circuit 3472 compares the current position of the drive shaft assembly 200 against 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 switches to control mode, control circuit 2510 then engages 3482 motor hold condition 3308 (2504) to resist unwanted rotation of drive shaft assembly 200. Hold condition can include any of the holding conditions as discussed above with respect to Figures 22 to 25 and with respect to an end actuator joint 2502. When control circuit 2510 compares 3472 the current rotational position of the drive shaft assembly 200 against the predetermined limit and the current rotational position is within predetermined limit 3476, control circuit 2510 continues 3478 operation of the end actuator function, for example, continues to operate in trigger mode.
[00186] [00186] 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.
[00187] [00187] In another aspect, the 2500 surgical instrument can have a manual triggering. When 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.
[00188] [00188] 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 articulation control and rotational control can operate independently or cooperatively to control the overall spatial position of the 2502 end actuator.
[00189] [00189] The functions or processes 3430, 3460 described in this document can be performed by any of the processing circuits described in this document, such as control circuit 700 described in Figures 5 to 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.
[00190] [00190] The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this disclosure can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[00191] [00191] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits forming a general-purpose computing device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations thereof.
[00192] [00192] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented using application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in light of this disclosure.
[00193] [00193] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and 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.).
[00194] [00194] The previously mentioned description of one or more aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application for,
[00195] [00195] Various aspects of the subject described in this document are defined in the following numbered examples:
[00196] [00196] 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 over a distance from a proximal position 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 engaged condition, a disengaged condition and a holding condition; a control circuit coupled to the engine; a position sensor coupled to the control circuit, wherein the position sensor is configured to detect a position of the hinge member over at least a portion of the distance; and which control circuit is configured to: receive position input from the position sensor indicative of an articulation position of the articulation member; identify a predetermined limit that corresponds to the articulation position of the articulation member; determining a motor control action, when the motor is in disengaged condition, in response to a movement of the articulation member that exceeds the predetermined limit; and controlling the movement of the hinge member wherein controlling the movement of the hinge member comprises engaging the motor so that it is in the holding condition.
[00197] [00197] Example 2. The surgical instrument of Example 1 in which the control circuit is configured to maintain the articulation position in response to the movement of the articulation member exceeds the predetermined limit.
[00198] [00198] Example 3. The surgical instrument of Example 2 in which the control circuit is configured to apply pulse width modulated current (MLP) to the motor in the holding condition so that it resists the movement of the articulation member.
[00199] [00199] Example 4. The surgical instrument from Example 1 to Example 3 in which the motor comprises a direct current (DC) motor with brushes.
[00200] [00200] Example 5. The surgical instrument of Example 4 in which the control circuit is configured to internally connect conductors to the direct current (DC) motor with brushes when the motor is in the holding condition.
[00201] [00201] Example 6. The surgical instrument from Example 4 to Example 5, in which the control circuit comprises a forward condition, a stop condition and a braking condition in which, when the control circuit is in the condition of forward, the DC motor is in the engaged condition, where, when the control circuit is in the stop condition, the DC motor is in the disengaged condition and when, when the control circuit is in the braking condition, the DC motor is in the holding condition.
[00202] [00202] 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.
[00203] [00203] 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 a closed configuration and the third switch and the fourth switch are in a configuration open.
[00204] [00204] Example 9. The surgical instrument of Example 8 in which, when the control circuit is in the stop condition, the first switch, the second switch, the third switch and the fourth switch are in an open configuration.
[00205] [00205] Example 10. A surgical instrument comprising: a motor configured to couple a gear set of a rotary drive shaft assembly in which the rotary drive shaft assembly comprises a longitudinal geometric axis, a position sensor rotationally configured to measure the rotation of the rotary drive shaft assembly around the longitudinal axis where the motor is configured to apply a rotary force to rotate the rotary drive shaft assembly and where the rotation of the drive shaft assembly rotates the rotary drive shaft assembly around the longitudinal geometry axis; a control circuit coupled to the motor, where the control circuit is configured to: monitor a rotational position of the rotary drive shaft assembly based on a signal from the rotational position sensor; identify a predetermined limit corresponding to the rotational position of the rotary drive shaft assembly; determining a motor control action in response to a rotational movement of the rotary drive shaft assembly that exceeds the predetermined limit; and controlling 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 assembly around the longitudinal geometry axis.
[00206] [00206] Example 11. The surgical instrument of Example 10 in which the control circuit is configured to maintain a rotational position of the rotary drive shaft assembly in response to a rotation of the rotary drive shaft assembly around the longitudinal geometry axis that exceeds the predetermined limit.
[00207] [00207] Example 12. The surgical instrument of Example 11 in which the control circuit is configured to apply pulse width modulated current (MLP) to the motor so that it resists the rotation of the rotary drive shaft assembly.
[00208] [00208] Example 13. The surgical instrument from Example 10 to Example 12 where the motor comprises a direct current (DC) motor with brushes.
[00209] [00209] Example 14. The surgical instrument of example 13 in which the control circuit is configured to internally connect conductors to the brushed DC motor when the motor resists the rotation of the rotary drive shaft assembly beyond the predetermined limit .
[00210] [00210] Example 15. A surgical instrument comprising: a longitudinal drive shaft assembly comprising: a rotary drive shaft portion comprising a longitudinal geometric axis and a drive gear in which the rotary drive shaft portion is configured to rotate around the longitudinal geometric axis; and a pivot 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 element is operatively 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 operatively connected to the articulation gear of the articulation joint; and a source of energy; where the control circuit comprises an engaged condition, a disengaged condition and a dynamic braking condition where, when the control circuit is in the engaged condition, the control circuit supplies the motor with the power source in a circuit configuration in series where, when the control circuit is in the disengaged condition, the control circuit disconnects the power supply from the motor and where, when the control circuit is in the dynamic braking condition, the control circuit places the supply in a parallel circuit condition with the motor.
[00211] [00211] Example 16. The surgical instrument of Example 15 in which, when the control circuit is in the rotational condition and in the dynamic braking condition, the control circuit is configured to: monitor a rotational position of the rotating drive shaft portion based on a signal from a rotational position sensor; identifying a predetermined limit that corresponds to a rotational position of the rotating drive shaft portion; determining a motor control action in response to a rotational movement of the rotating drive shaft portion that exceeds the predetermined limit; controlling the rotation of the rotary drive shaft portion wherein controlling the rotation of the rotary drive shaft portion comprises resisting the rotation of the rotary drive shaft portion around the longitudinal geometry axis.
[00212] [00212] Example 17. The surgical instrument of Example 16 in which the motor comprises a direct current (DC) motor with brushes and in which the power supply comprises a battery.
[00213] [00213] Example 18. The surgical instrument from Example 15 to Example 17 where, when the control circuit is in the articulation condition and in the dynamic braking condition, the control circuit is configured to: monitor an articulation position of the articulation joint based on a signal from a joint position sensor; identify a predetermined limit that corresponds to an articulation position of the articulation joint; determining a motor control action in response to an articulation of the articulation joint that exceeds the predetermined limit; controlling the articulation of the articulated joint in which controlling the articulation of the articulated joint comprises resisting the articulation of the articulated joint.
[00214] [00214] Example 19. The surgical instrument of Example 18 in which the motor comprises a direct current (DC) motor with brushes and in which the power supply comprises a battery.
[00215] [00215] Example 20. The surgical instrument from Example 16 to Example 19 in which, when the control circuit is in the articulation condition and in the dynamic braking condition, the control circuit is configured to: monitor an articulation position of the articulation joint based on a signal from a joint position sensor; identify a predetermined limit that corresponds to an articulation position of the articulation joint; determining a motor control action in response to an articulation of the articulation joint that exceeds the predetermined limit; controlling the articulation of the articulated joint in which controlling the articulation of the articulated joint comprises resisting the articulation of the articulated joint.

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 along a distance from a proximal position 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 engaged condition, a disengaged condition and a holding condition; a control circuit coupled to the engine; a position sensor coupled to the control circuit, wherein the position sensor is configured to detect a position of the hinge member over at least a portion of the distance; and wherein the circuit is configured to: receive position input from the position sensor indicative of a pivot position of the pivot member; identify a predetermined limit that corresponds to the articulation position of the articulation member; determining a motor control action, when the motor is in disengaged condition, in response to a movement of the articulation member that exceeds the predetermined limit; and controlling the movement of the hinge member wherein controlling the movement of the hinge member comprises engaging the motor to the holding condition.
[2]
2. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to maintain the articulation position in response to the movement of the articulation member that exceeds the predetermined limit.
[3]
3. Surgical instrument, according to claim 2,
characterized in that the control circuit is configured to apply pulse width modulated current (MLP) to the motor in the holding condition so that it resists the movement of the articulation member.
[4]
4. Surgical instrument according to claim 1, characterized in that the motor comprises a direct current (DC) motor with brushes.
[5]
5. Surgical instrument, according to claim 4, characterized in that the control circuit is configured to internally connect conductors to the direct current (DC) motor with brushes when the motor is in the holding condition.
[6]
6. Surgical instrument according to claim 4, characterized in that the control circuit comprises a forward condition, a stop condition and a braking condition in which, when the control circuit is in the forward condition, the DC motor it is in the engaged condition, in which, when the control circuit is in the stop condition, the DC motor is in the disengaged condition and in which, when the control circuit is in the braking condition, the DC motor is in the holding 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 a closed configuration and the third switch and the fourth switch are in a configuration open.
[9]
9. Surgical instrument, according to claim 8, characterized in that, when the control circuit is in the stop condition, the first switch, the second switch, the third switch and the fourth switch are in an open configuration.
[10]
10. Surgical instrument characterized by comprising: a motor configured to be coupled to a gear set of a rotary drive shaft assembly, in which the rotary drive shaft assembly comprises a longitudinal geometric axis, a rotational position sensor configured for measure the rotation of the rotary drive shaft assembly around the longitudinal geometry axis, where the motor is configured to apply a rotary force to rotate the rotary drive shaft assembly and where the rotation of the drive shaft assembly rotates the rotating drive shaft assembly around the longitudinal geometric axis; a control circuit coupled to the motor in which the control circuit is configured to: monitor a rotational position of the rotary drive shaft assembly based on a signal from the rotational position sensor; identify a predetermined limit corresponding to the rotational position of the rotary drive shaft assembly; determining a motor control action in response to a rotational movement of the rotary drive shaft assembly that exceeds the predetermined limit; and controlling 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 assembly around the longitudinal geometry axis.
[11]
11. Surgical instrument, according to claim 10,
characterized in that the control circuit is configured to maintain a rotational position of the rotary drive shaft assembly in response to a rotation of the rotary drive shaft assembly around the longitudinal geometry axis that exceeds the predetermined limit.
[12]
12. Surgical instrument according to claim 11, characterized in that the control circuit is configured to apply pulse width modulated current (MLP) to the motor so that it resists the rotation of the rotary drive shaft assembly.
[13]
13. Surgical instrument according to claim 10, characterized in that the motor comprises a direct current (DC) motor with brushes.
[14]
14. Surgical instrument, according to claim 13, characterized in that the control circuit is configured to internally connect conductors to the DC motor with brushes when the motor has to resist the rotation of the rotating drive shaft assembly beyond the predetermined limit.
[15]
15. Surgical instrument characterized by comprising: a longitudinal drive shaft assembly comprising: a rotating drive shaft portion comprising a longitudinal geometric axis and a driving gear in which the rotating drive shaft portion is configured to rotate at the around the longitudinal geometric axis; and a pivot 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 element is operatively 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 operatively connected to the articulation gear of the articulation joint; and a source of energy; where the control circuit comprises an engaged condition, a disengaged condition and a dynamic braking condition where, when the control circuit is in the engaged condition, the control circuit supplies the motor with the power source in a circuit configuration in series where, when the control circuit is in the disengaged condition, the control circuit disconnects the power supply from the motor and where, when the control circuit is in the dynamic braking condition, the control circuit places the supply in a parallel circuit condition with the motor.
[16]
16. Surgical instrument according to claim 15, characterized in that, when the control circuit is in the rotational condition and in the dynamic braking condition, the control circuit is configured to: monitor a rotational position of the rotating drive shaft portion based on a signal from a rotational position sensor; identifying a predetermined limit that corresponds to a rotational position of the rotating drive shaft portion; determining a motor control action in response to a rotational movement of the rotating drive shaft portion that exceeds the predetermined limit;
controlling the rotation of the rotary drive shaft portion, wherein controlling the rotation of the rotary drive shaft portion comprises resisting the rotation of the rotary drive shaft portion around the longitudinal geometric axis.
[17]
17. Surgical instrument according to claim 16, characterized in that the motor comprises a direct current (DC) motor with brushes and in which the power supply comprises a battery.
[18]
18. Surgical instrument, according to claim 15, characterized in that, when the control circuit is in the articulation condition and in the dynamic braking condition, the control circuit is configured to: monitor a joint position of the articulation joint with based on a signal from a joint position sensor; identify a predetermined limit that corresponds to an articulation position of the articulation joint; determining a motor control action in response to an articulation of the articulation joint that exceeds the predetermined limit; controlling the articulation of the articulated joint, in which controlling the articulation of the articulated joint comprises resisting the articulation of the articulated joint.
[19]
19. Surgical instrument according to claim 18, characterized in that the motor comprises a direct current (DC) motor with brushes and in which the power supply comprises a battery.
[20]
20. Surgical instrument, according to claim 16, characterized in that, when the control circuit is in the articulation condition and in the dynamic braking condition, the control circuit is configured to: monitor a joint position of the articulation joint with based on a signal from a joint position sensor; identify a predetermined limit that corresponds to an articulation position of the articulation joint; determining a motor control action in response to an articulation of the articulation joint that exceeds the predetermined limit; controlling the articulation of the articulated joint, in which controlling the articulation of the articulated joint comprises resisting the articulation of the articulated joint.

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同族专利:

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公开号 | 公开日

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US20180360469A1|2018-12-20|

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EP3417797A1|2018-12-26|

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JP2020524043A|2020-08-13|

---

US10390841B2|2019-08-27|

---

EP3417797B1|2020-03-18|

---

WO2018234902A1|2018-12-27|

---

CN110769762A|2020-02-07|

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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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US15/627,998|2017-06-20|

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US15/627,998|US10390841B2|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/IB2018/053580|WO2018234902A1|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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