surgical instrument that has controllable articulation speed

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a motor configured to drive an end actuator between a non-articulated position and an articulated position, a sensor configured to detect an end actuator position and provide a signal indicating the position of the end actuator and a control circuit coupled to the sensor and the motor. The control circuit is configured to detect a position of the end actuator through the signal provided by the sensor and provide a drive signal to the motor to drive the end actuator at a speed corresponding to the signal indicating the position of the end actuator.
公开号:BR112019026919A2
申请号:R112019026919-3
申请日:2018-05-17
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 stapling and cutting instruments, and staple cartridges for them, which are designed to staple and cut fabrics. BACKGROUND
[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 speed of the cutting member during a firing stroke to account for 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 scanning speed of the end actuator may vary undesirably in areas of interest such as near the end of stroke or near the initial position for removing a trocar. Therefore, it may be desirable to provide articulation speed control to improve user control. It may be desirable to vary the end actuator joint by varying the duty cycle of the motor drive signal to vary the rate of the joint head angle as a function of the end actuator pivot angle. SUMMARY
[004] [004] In one aspect, the present description provides a surgical instrument that comprises a motor configured to drive an end actuator between an un-articulated position and an articulated position; a sensor configured to detect an articulation position of the end actuator and provide a signal indicative of the articulation position of the end actuator; and a control circuit coupled to the sensor and the motor, the control circuit being configured to: determine the position of the articulation of the end actuator through the signal provided by the sensor; and providing a drive signal to the motor to pivot the end actuator at a speed corresponding to the signal indicating the pivot position of the end actuator.
[005] [005] In another aspect, the surgical instrument comprises an articulation actuator configured to actuate an end actuator that is articulated between a first position and a second position, the articulation actuator being configured to actuate the end actuator a from the first position to the second position; a motor coupled to the articulation actuator, the motor being configured to actuate the articulation actuator; a sensor configured to detect a hinge trigger position and provide a signal indicative of the hinge trigger position; and a control circuit coupled to the motor and the sensor, the control circuit being configured to: detect a position of the articulation trigger by means of the signal provided by the sensor; determining an angular position of the end actuator according to the sign indicating the position of the articulation actuator; and providing a drive signal to the motor to drive the motor at a speed corresponding to the angular position of the end actuator.
[006] [006] In another aspect, a method of controlling an engine in a surgical instrument is provided. The surgical instrument comprises a motor configured to drive an end actuator between a non-articulated position and an articulated position, a sensor configured to detect a position of the end actuator joint and provide a signal indicating the position of the end actuator joint and a control circuit coupled to the sensor and the motor, the method comprising: determining, through the control circuit, the position of the articulation of the end actuator through the signal provided by the sensor; and providing, through the control circuit, a drive signal to the motor to articulate the end actuator at a speed corresponding to the signal indicating the articulation position of the end actuator. FIGURES
[007] [007] 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.
[008] [008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axes operationally coupled to it, according to one aspect of this description.
[009] [009] Figure 2 illustrates an exploded view of a portion of the surgical instrument of Figure 1, according to an aspect of this description.
[0010] [0010] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this description.
[0011] [0011] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this description.
[0012] [0012] Figures 5A to 5B are a block diagram of a control circuit of the surgical instrument of Figure 1 that comprises two drawing sheets, according to one aspect of this description.
[0013] [0013] 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 description.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, the absolute positioning system comprising a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of this description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor array, according to one or more aspects of this description.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present description.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present description. .
[0021] [0021] 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 description.
[0022] [0022] Figure 15 illustrates a diagram that plots two displacement member courses performed, according to an aspect of the present description.
[0023] [0023] Figure 16 is a partial perspective view of a portion of a surgical instrument end actuator showing an elongated drive shaft assembly in a non-articulated orientation with portions omitted for clarity, according to an aspect of this description.
[0024] [0024] Figure 17 is another perspective view of the end actuator of Figure 16 showing the elongated drive shaft assembly of a non-articulated orientation, in accordance with an aspect of the present description.
[0025] [0025] Figure 18 is a view of the exploded assembly in perspective of the end actuator of Figure 16 showing the elongated drive shaft assembly of an un-articulated orientation, in accordance with an aspect of the present description.
[0026] [0026] Figure 19 is a top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, in accordance with an aspect of the present description.
[0027] [0027] Figure 20 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a first articulated orientation, in accordance with an aspect of the present description.
[0028] [0028] Figure 21 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a second articulated orientation, in accordance with an aspect of the present description.
[0029] [0029] Figure 22 is a diagram illustrating the displacement of a pivot actuator in relation to a pivot angle of the end actuator for constant pivot actuator speed and variable pivot actuator speed according to an aspect of the present description .
[0030] [0030] Figure 23 is a first diagram illustrating the articulation speed in relation to the articulation angle of an end actuator and a second diagram illustrating the motor duty cycle in relation to the articulation angle of an end actuator according to with an aspect of the present description.
[0031] [0031] Figure 24 is a logic flow diagram representing a process of a control program or a logical configuration for controlling the speed of the end actuator joint according to an aspect of the present description.
[0032] [0032] Figure 25 is a logic flow diagram representing a process of a control program or a logical configuration for controlling the speed of the end actuator joint according to an aspect of the present description.
[0033] [0033] Figure 26 is a diagram illustrating the engine duty cycle in relation to the articulation angle of an end actuator for aspects using a constant engine duty cycle, a constantly variable engine duty cycle, and a engine duty cycle slightly variable according to one aspect of the present description.
[0034] [0034] Figure 27 is a diagram illustrating the torque in relation to the articulation speed of an end actuator according to an aspect of the present description.
[0035] [0035] Figure 28 is a diagram representing the articulation speed of an end actuator in relation to the articulation angle based on various control algorithms in accordance with an aspect of the present description.
[0036] [0036] Figures 29 to 32 are diagrams that represent the motor tension and duty cycle in relation to the articulation angle of an end actuator based on various control algorithms according to an aspect of the present description, where:
[0037] [0037] Figure 29 represents a control algorithm to control an articulation speed of an end actuator with the use of variable voltage and no pulse width modulation.
[0038] [0038] Figure 30 represents a control algorithm to control an articulation speed of an end actuator using constant tension and pulse width modulation.
[0039] [0039] Figure 31 represents a control algorithm to control the articulation speed of an end actuator using variable voltage and pulse width modulation.
[0040] [0040] Figure 32 represents a control algorithm to control an articulation speed of an end actuator with the use of constant tension and no pulse width modulation. DESCRIPTION
[0041] [0041] 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:
[0042] [0042] Attorney document number END8191USNP / 17 0054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0043] [0043] Attorney Document No. END8192USNP / 17 0055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0044] [0044] Attorney document number END8193USNP / 17 0056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0045] [0045] Attorney document number END8194USNP / 17 0057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0046] [0046] Attorney document number END8195USNP / 17 0058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0047] [0047] Attorney document number END8197USNP / 17 0060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
[0048] [0048] Attorney document number END8198USNP / 17 0061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0049] [0049] Attorney document number END8222USNP / 17 0125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0050] [0050] Attorney document number END8199USNP / 17 0062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0051] [0051] Attorney document number END8275USNP / 17 0185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0052] [0052] Attorney document number END8268USNP / 17 0186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0053] [0053] Attorney document number END8276USNP / 17 0187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0054] [0054] Attorney document number END8266USNP / 17 0188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0055] [0055] Attorney document number END8267USNP / 17 0189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0056] [0056] Attorney document number END8269USNP / 17 0190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT,
[0057] [0057] Attorney document number END8270USNP / 17 0191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0058] [0058] Attorney document number END8271USNP / 17 0062M, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0059] [0059] Attorney Document No. END8274USDP / 17 0193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0060] [0060] Attorney Document No. END8273USDP / 17 0194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0061] [0061] Attorney document number END8272USDP / 17 0195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0062] [0062] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the devices and methods described. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0063] [0063] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring 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.
[0064] [0064] 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 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.
[0065] [0065] 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 operable fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operatively coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in 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 described herein can be used with various robotic systems, instruments, components and methods described in US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTR UMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated herein reference, in its entirety.
[0066] [0066] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled to it, according to an aspect of this description. Enclosure 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. 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.
[0067] [0067] The cable assembly 14 may comprise a pair of interconnectable cable compartment segments 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 to it. A screen can be provided under a cover 45.
[0068] [0068] Figure 2 is an exploded view of a portion of the surgical instrument 10 of Figure 1, according to an aspect of this description. 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
[0069] [0069] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly attached to it. The firing drive system 80 can use an electric motor 82 located in the pistol grip handle portion 19 of the cable assembly 14. Electric motor 82 can be a brushed direct current (DC) motor 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. Electric motor 82 can be powered by a power supply 90 which can comprise a removable power source
[0070] [0070] The electric motor 82 may include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reducer assembly 84 mounted on a coupling hitch 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.
[0071] [0071] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the 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.
[0072] [0072] 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 rotated between an unacted position and an acted position.
[0073] [0073] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated groove 302 configured to operationally support a surgical staple cartridge
[0074] [0074] 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.
[0075] [0075] 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 description. 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 sliding joint 286. The sliding joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot the end actuator 300 around the pivot joint 270 without moving, or at least without substantially move 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 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 it can be engaged with the drive shaft structure 212 to enclose the intermediate drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in US Patent Application Publication No. 2014 / 0263541. The central column 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the central column 210. The central column 210 can slidably support a pivoting actuator 230.
[0076] [0076] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the articulation actuator 230 to the firing member 220, and a disengaged position, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The mouthpiece 201 can be used to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in US Patent Application Publication No. 2014/0263541.
[0077] [0077] The interchangeable drive shaft assembly 200 may comprise a slide 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, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The electrical connector 606 can extend proximally through a connector opening defined on the chassis mounting flange. The publication of a patent application
[0078] 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.
[0079] [0079] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator
[0080] [0080] 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,
[0081] [0081] Figures 5A to 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1 which comprises two drawing sheets, according to one aspect of this description. Referring mainly to Figures 5A to 5B, a cable assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be used 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)
[0082] [0082] 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.
[0083] [0083] 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.
[0084] [0084] 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" - serial random access memory), an internal read-only memory ("ROM" - read-only memory) loaded with the StellarisWare® program, electrically erasable programmable read-only memory ("EEPROM") - 2 KB, one or more pulse width modulation modules (" PWM "- pulse width modulation), one or more quadrature encoder inputs (" QEI "- quadrature encoder inputs), one or more 12-bit analog to digital converters (" ADC "- analog converters) with 12 analog input channels, details of which are available for the product data sheet.
[0085] [0085] 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.
[0086] [0086] 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 sensing 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 supply 706 and the current sensor circuit 736 can be used to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output of the 706 power pack 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.
[0087] [0087] 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. These devices may comprise, for example, visual feedback devices (for example, a liquid crystal display ("LCD"), light emitting diode (LED) indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0088] [0088] 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 circuit segment can be coupled to the safety controller and / or the main controller
[0089] [0089] 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.
[0090] [0090] 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 screen can comprise any suitable screen, such as an organic light emitting diode (OLED) screen, a liquid crystal display (LCD), and / or any other suitable screen. In some examples, the screen segment is coupled to the safety controller.
[0091] [0091] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for 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 memory Drive shaft PCBA EEPROM. 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.
[0092] [0092] The position encoder segment (segment 6) comprises one or more magnetic encoders of the position of the rotation angle. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0093] [0093] 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 that comprises one or more H 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 filter ("IEM" - electromagnetic interference) from the motor.
[0094] [0094] 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.
[0095] [0095] 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.
[0096] [0096] 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.
[0097] [0097] 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" - metal-oxide semiconductor-FET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0098] [0098] 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 description.
[0099] [0099] 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
[00100] [00100] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor 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 memory circuit 804.
[00101] [00101] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[00102] [00102] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement 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, and a clock 829, 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.
[00103] [00103] 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.
[00104] [00104] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising a motor controlled drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with an aspect of the present description. Position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member
[00105] [00105] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted in coupling hitch with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member
[00106] [00106] 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.
[00107] [00107] 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 1112 position sensor. 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.
[00108] [00108] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the reset position (zero or initial), as can be 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.
[00109] [00109] 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 drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives 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 ME THODS FOR
[00110] [00110] 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.
[00111] [00111] 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 to 5B).
[00112] [00112] 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 unit can be used to supply the excess voltage to that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows 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 FETs on the top or bottom side. 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.
[00113] [00113] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor arrangement 1102, the description now turns to Figures 11 and 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 the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement.
[00114] [00114] 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,
[00115] [00115] 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 around 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 member 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 first gear 1208. Since the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with each stroke of drive member 1111.
[00116] [00116] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for containing the position sensor 1200 in precise alignment with a magnet 1202 rotating 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 magnet holder 1204. Second gear 1210 and third gear 1212 coupled to the drive shaft 1214 are also shown.
[00117] [00117] 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 rotary, magnetic, single-chip 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 ("CORDIC" - coordinate rotation digital computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction operations , bit offset 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 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[00118] [00118] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure
[00119] [00119] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00120] [00120] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented, 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%).
[00121] [00121] 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 description. 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
[00122] [00122] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The exemplifying fabric 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.
[00123] [00123] In the second stroke region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric
[00124] [00124] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4) can be used to advance and / or retract the firing system of the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem with I 2514 profile it 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
[00125] [00125] 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 current of the 2504 motor, the current of the engine 2504 being 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.
[00126] [00126] 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 description. 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.
[00127] [00127] 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.
[00128] [00128] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some 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 2524 drive signal. In some instances, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal 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 the control circuit 2510 can generate the motor 2524 drive signal directly.
[00129] [00129] The 2504 motor can receive power from an energy source
[00130] [00130] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters such as the gap distance 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 a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[00131] [00131] The one or more 2538 sensors may comprise a strain gauge, such as a microtension gauge, configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The 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.
[00132] [00132] 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 and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00133] [00133] 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
[00134] [00134] Using the physical properties of the instruments described here, now with reference to Figures 1 to 14, and with reference to Figure 14, a 2510 control circuit can be configured to simulate the real system response of the instrument in the controller software. A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument can include a feedback controller, which can be 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.
[00135] [00135] 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.
[00136] [00136] 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 were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[00137] [00137] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise an articulating anvil 2516 and, when configured for use, an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member 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.
[00138] [00138] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement limb, 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 tissue conditions, such as thickness, as described here. 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.
[00139] [00139] In some examples, control circuit 2510 may 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.
[00140] [00140] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present description. 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 t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[00141] [00141] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is placed 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.
[00142] [00142] 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 the 2586 stroke to the 2596 position. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the travel member at a constant selected speed (Vrapida). 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, thinner fabric (for example, a larger portion of the displacement member travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[00143] [00143] Figures 16 to 21 illustrate a 2300 end actuator of a 2010 surgical instrument showing how the 2300 end actuator can be pivoted in relation to the elongated drive shaft assembly 2200 around a pivot joint 2270 according to an aspect of the present description. Figure 16 is a partial perspective view of a portion of the surgical end actuator 2300 showing an elongated drive shaft assembly 2200 in a non-articulated orientation, with some of its portions omitted for the sake of 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 another top view of the end actuator 2300 of Figure 16 showing the end actuator. elongated 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.
[00144] [00144] Now with reference to Figures 16 to 21, the end actuator 2300 is adapted to cut and staple fabric, and includes a first claw in the form of an elongated channel 2302 that is configured to support operationally a cartridge inside. surgical clamps 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 with respect to it. The elongated drive shaft assembly 2200 includes a hinge system 2800 that uses a hinge lock 2810. Hinge lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in various hinged positions. This arrangement allows the surgical end actuator 2300 to be rotated, or articulated, in relation to the closing sleeve 260 of the drive shaft, when the articulation lock 2810 is in its unlocked state. Specifically with reference to Figure 18, the elongated drive shaft assembly 2200 includes a central column 210 that is configured to (1) slide a firing member (220) in its interior and, (2) to slide it the closing sleeve 260 (Figure 16) that extends around the central column 210. The closing sleeve of the drive shaft 260 is fixed to a closing sleeve of the end actuator 272 which is pivotally fixed to the closing sleeve 260 for a double-jointed closing sleeve assembly 271.
[00145] [00145] The central column 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 which is configured to operationally engage the articulation lock 2810. The articulation lock 2810 additionally comprises a drive shaft structure 2812 which is attached to the central column 210 in the various ways described herein. 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 DD direction and a proximal PD direction, along a geometric axis of articulation AAA that is laterally displaced and parallel to the geometric axis SA-SA of the drive axis, in response to articulation control movements applied to it.
[00146] [00146] In Figures 17 and 18, the drive shaft structure 2812 includes a distal end portion 2814 that has a pivot pin 2818 formed thereon. The pivot pin 2818 is adapted to be pivotally received within a pivot hole 2397 formed in the pivot base portion 2395 of an end actuator mounting set 2390. The end actuator mounting set 2390 is attached to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. The pivot pin 2818 defines a pivot geometric axis BB transverse to the geometric axis of the SA-SA drive axis to facilitate the pivoting displacement (that is, pivot) of the end actuator 2300 around the pivot geometric axis BB in relation to the drive shaft structure 2812.
[00147] [00147] As shown in Figure 18, a link pin 2825 is formed at a distal end 2823 of the distal hinge link 2820, and is configured to be received inside a hole 2904 at a proximal end 2902 of a cross link 2900 The cross link 2900 extends transversely across the SA-SA axis of the drive shaft, and includes a distal end portion 2906. A distal link hole 2908 is provided through the distal end portion 2906 of the cross link 2900, and is configured to pivotally receive a 2398 base pin that extends from the bottom of the 2395 pivot base portion of the end actuator assembly
[00148] [00148] 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 drive axis SA, according to one aspect. Figure 20 shows the articulation joint 2270 of Figure 19 hinged in a configuration direction at a first angle θ1 defined between the drive axis SA and the geometric axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulation joint 2270 of Figure 19 articulated in another direction at a second angle θ2 defined between the drive axis SA and the geometric axis EA of the end actuator.
[00149] [00149] The surgical end actuator 2300 in Figures 16 to 21 comprises a surgical cut and the stapling device that uses a trigger member 220 of the various types and configurations described herein. 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 that is adapted to receive a 2954 pin that protrudes from there. the central column
[00150] [00150] The surgical instrument can additionally be configured to determine the angle at which the 2300 end actuator is oriented. In various embodiments, 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, among others , for example. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 can additionally comprise a pivot sensor arrangement that is configured to determine the angular position, i.e. the pivot angle, of the end actuator 2300 and provide a unique position signal corresponding to it.
[00151] [00151] The articulation sensor arrangement may be similar to the sensor arrangement 1102 described above and illustrated in Figures 10 to
[00152] [00152] 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
[00153] [00153] The articulation sensor arrangement in this aspect may likewise 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 detection elements, such as Hall effect sensors, 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.
[00154] [00154] In one aspect, each revolution of the sensor element associated with the position sensor is equivalent to a linear longitudinal displacement d1 of the longitudinally movable articulation driver
[00155] [00155] In several respects, any number of magnetic detection elements can be used in the arrangement of the articulation sensor, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field . The number of magnetic detection elements used corresponds to the desired resolution to be detected by 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, 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.
[00156] [00156] 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 displacement member 1111. In such an aspect, the arrangement The articulation sensor can be implemented as a rotary, magnetic, single chip position sensor, AS5055EQFT, available from Austria Microsystems, AG. The position sensor is interfaced with the controller to provide an absolute positioning system for determining the absolute angular position of the 2300 end actuator, either directly or indirectly. The position sensor is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of the position sensor 1200 located above magnet 1202 (Figure 11). A 1232 high-resolution 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-for-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 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[00157] [00157] With reference to Figures 1 to 4 and 10 to 21, the position of the articulated joint 2270 and the position of the rod with I-shaped profile 178 (Figure 4) can be determined with the absolute position feedback signal / value of the system absolute positioning position 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 and, when the articulation actuator is operationally coupled to the firing member 220 (Figure 3) by the clutch assembly 400 (Figure 3), for example, the absolute positioning system 1100 can, in effect, tracking the movement of the articulation system through the actuation member 120. As a result of tracking the movement of the articulation system, the controller of the surgical instrument can track the joint 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 the longitudinal displacement DL of the drive member 120. Since the longitudinal displacement DL of the drive member 120 can be precisely determined based on the position signal absolute / value provided by the 1100 absolute positioning system, the articulation angle θ can be determined as a function of the longitudinal displacement DL.
[00158] [00158] In another aspect, the articulation angle θ can be determined by locating sensors on the articulated joint
[00159] [00159] In one aspect, the firing rate or speed of the I-shaped rod 178 can be varied as a function of the articulation angle of the end actuator 2300 to reduce the firing force on the firing drive system 80 and , in particular, the trigger force of the I-shaped rod 178, among other components of the trigger drive system 80 discussed in this document. To adapt to the variable firing force of the I-profile 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 thresholds based on the articulation angle of the end actuator
[00160] [00160] Now with reference to Figures 22 to 23 and 26 to 32, a variety of diagrams are shown. The geometric axes in each of these Figures are normalized so that each geometric axis represents a ratio between a minimum value and a maximum value, instead of defining values. The minimum and maximum values of the variables represented in these graphs can vary according to different aspects of the surgical instrument. For example, the minimum pivot angle of the sweep range of the end actuator can include -65 ° and in many respects, -60 °, and -45 ° and the maximum swivel angle of the end actuator of the sweep range of the actuator endpoint may include + 45 ° and in various respects, + 60 °, + 65 ° and in relation to the longitudinal axis of the elongated drive shaft assembly. In addition, it can be understood that although the above examples are discussed in terms of degrees, the angular position can additionally be represented in terms of radians or any other unit of angular position. As another example, the minimum and maximum position of the articulation actuator can include 0.0 m and 0.304 m, respectively. In addition, it can be understood that although the above example has been discussed in terms of meters, the linear position can additionally be represented in terms of feet, inches or any other unit of linear position.
[00161] [00161] In some aspects of the surgical instrument in which the angular displacement of the end actuator through the articulated joint is triggered by the displacement of the articulation actuator, as the aspect represented in Figures 19 to 21, there is a non-linear relationship between the displacement of the articulation actuator 230 (Figure 17) and the angular displacement of the end actuator 2300 (Figures 19 to 21). Put another way, there may not be a 1: 1 relationship between the displacement of the articulation actuator and the angular displacement of the end actuator due to the kinematics of the connection between the components. Referring specifically to Figure 22 now, a diagram 5500 is shown illustrating the displacement of the hinge actuator 5508 with respect to an angle of the end actuator 5506 for a constant hinge drive speed and variable hinge drive speed according to a aspect of this description. In some aspects of the surgical instrument, the articulation actuator is driven from a first position 5526 to a second position 5528 at a constant rate, as shown by line 5504, which is independent of the articulation angle of the end actuator. In these aspects, the articulation speed, that is, the angular displacement rate of the end actuator, varies according to the determined articulation angle of the end actuator due to the non-linear relationship with the displacement of the articulation actuator. Notably, the natural response of the coupling between the end actuator and the pivot actuator in some of these respects is to cause the pivoting speed of the end actuator to increase from a midpoint 5516 towards the ends 5522, 5524 of the strip of the end actuator pivot, if the pivot actuator is being translated at a constant rate. In some cases, it may be desired that the pivot speed remains constant throughout the pivot range of the end actuator, that is, from the first end 5522 to the second end 5524 of the pivot range. In such aspects where it is desired to compensate the kinematics of the connection between the articulation actuator and the end actuator, the articulation actuator is actuated at a variable rate, as represented by line 5502, as a function of the articulation angle.
[00162] [00162] Figure 23 represents a first diagram 5510 illustrating the articulation speed 5518 in relation to the articulation angle of the end actuator 5506 and a second diagram
[00163] [00163] There are several possible methods for controlling the angular speed of the end actuator by varying the speed of the articulation actuator 230 according to the articulation angle at which the end actuator is positioned. One of these methods is the variation of the motor cycle that drives the articulation actuator 230, which is called pulse width modulation (PWM). One aspect using this method is illustrated as line 5532, which corresponds to line 5514 representing the change in pivot speed of end actuator 2502 as a function of the pivot angle. Another method is to vary the magnitude of the voltage supplied to the motor that drives the articulation drive. A third method is to use a combination of PWM and varying the magnitude of the voltage supplied to the motor. Since the speed at which the motor drives the articulation actuator 230 corresponds both to the duty cycle in which the motor is operating and to the magnitude of the voltage received by the motor, each of the previously mentioned methods allows the surgical instrument to control the speed of the actuator pivot 230 and thus the angular speed of the end actuator.
[00164] [00164] Figure 24 illustrates a logic flow diagram of a process that represents a control program or a logical configuration for controlling the motor speed during the transition between speeds, according to an aspect of the present description. In the following description of logic 5550 in Figure 24, reference should also be made to Figure 14 to 21. In one aspect of logic 5550 to control the articulation speed of the end actuator 2502, the relationship between the actuator articulation angle end 2502 and a property of the motor 2504 that affects the articulation speed of the end actuator 2502 is initially characterized and the characterization data is stored in the memory of the surgical instrument 2500. The property of the motor 2504 that affects the articulation speed of the actuator endpoint 2502 may include the duty cycle of the motor, the magnitude of the voltage supplied to the motor, a combination of them, or other such methods. In one aspect, memory is non-volatile memory like flash memory, EEPROM memory, and the like. When the surgical instrument is being used, the control circuit 2510 accesses 5552 the characterization data stored in memory. In aspects where the position of the hinge actuator 230 is tracked by the hinge sensor arrangement as a substitute for the hinge angle of the end actuator 2502, the relationship between the position of the hinge actuator 230 and the motor property can instead be initially characterized in order to reduce the processing power that would otherwise be required to first shift the position of the hinge actuator 230 to the angular position of the end actuator 2502, before accessing 5552 the characterized data stored in the memory of according to the translated angular position of the end actuator 2502.
[00165] [00165] In one aspect, the output of the characterization process is an algorithm implemented in computer-readable instructions stored in memory and executed by the control circuit 2510. Consequently, in one aspect, the control circuit 2510 accesses the characterization data 5552 of the algorithm implemented in memory, it enters either with the angular position of the end actuator 2502 (which is determined directly or indirectly) or with the position of the articulation actuator 230, and then performs an execution calculation to determine the output, which is the property value of the particular motor to be fixed to achieve the desired articulation speed of the end actuator 2502.
[00166] [00166] In one aspect, the output of the characterization process is a query table implemented in memory. Consequently, in one aspect, the control circuit 2510 accesses 5552 the characterization data from the query table implemented in memory. In one respect, the lookup table comprises an arrangement that replaces the runtime computation with a simpler arrangement indexing operation. The savings in terms of processing time can be significant, since retrieving a value from memory via the 2510 control circuit is generally faster than performing "costly" computing or an input / output operation. The look-up table can be pre-calculated and stored in the static program storage, calculated (or "pre-designed") as part of an initialization (memorization) program, or even stored in hardware on specific application platforms. In the present order, the lookup table stores the output values of the characterization of the relationship between the articulation angle of the end actuator 2502 and the property of the motor 2504 dictating the articulation speed of the end actuator
[00167] [00167] In one aspect, the output of the characterization process is a formula for better curve fit, linear or non-linear. Consequently, in one aspect, the 2510 control circuit is operational for executing computer-readable instructions to implement a better curve fit formula based on the characterization data. Curve fit is the process of building a curve, or mathematical function, that has the best fit on a series of data points, possibly subject to limitations. The curve fit can involve any interpolation, where an exact fit to the data is required. In one aspect, the curve represents the duty cycle of the 2504 motor in which the motor must be configured as a function of the pivot angle of the end actuator 2502. Data points such as the pivot angle of the end actuator 2502, the position of the articulation actuator 230, and the duty cycle of the motor 2504 can be measured and used to generate a best fit curve in the form of a nth-order polynomial (usually a third-order polynomial would provide a curve fit suitable for the measured data). The 2510 control circuit can be programmed to implement the nth order polynomial. In use, the input of the nth order polynomial is the angular position of the end actuator 2502 and / or the position of the hinge actuator 230.
[00168] [00168] As the surgical instrument is operated, the surgical instrument 5554 tracks the articulation angle of the end actuator 2502, either directly or indirectly, through an articulation sensor arrangement, as described above. As the pivot angle is tracked 5554, the 5556 surgical instrument adjusts one or more properties of the motor 2504, such as the duty cycle of the motor 2504, in turn to adjust the pivot speed at which the motor 2504 drives the end actuator
[00169] [00169] In several aspects, the memory to store the characterization can be a non-volatile memory located on the drive axis, the cable, or both, of the surgical instrument.
[00170] [00170] In one aspect, the characterization is used by the microcontroller control software in communication with the non-volatile memory to gain access to the characterization.
[00171] [00171] Figure 25 illustrates another aspect of a logical flowchart representing a process of a control program or a logical configuration to control the articulation speed of the end actuator. As described above, in the following description of logic 5560 in Figure 25, reference should also be made to Figure 14 to 21. In one aspect, logic 5560 to control the articulation speed of end actuator 2502 comprises accessing 5562 characterization data the relationship between the angle of articulation of the end actuator 2502 and a property of the motor 2504 that affects the articulation speed of the end actuator 2502. The characterization data can be accessed 5562 before or during the use of the 2500 surgical instrument. between the articulation angle of the end actuator 2502 and the motor property 2504 can initially be stored in the memory of the surgical instrument. The property of the 2504 motor that affects the articulation speed of the end actuator 2502 can include the duty cycle of the motor, the magnitude of the voltage received by the motor, and a combination of them.
[00172] [00172] Once the characterization data is accessed 5562, logic 5560 then determines 5564 the present articulation position or angle of the end actuator 2502 by means of an articulation sensor arrangement. Logic 5560 then determines 5566 whether end actuator 2502 is positioned within one or more designated zones within the angular pivot or clearance range of end actuator 2502. The designated zones within the pivot range of end actuator 2502 correspond to areas where end actuator 2502 is driven at a given fixed speed, instead of a speed that corresponds to the pivot angle at which end actuator 2502 is positioned. In one aspect, a designated zone includes when end actuator 2502 is positioned within a limit distance from a defined position, as shown in Figure
[00173] [00173] The first zone can include multiple distinct portions of the angular articulation range of end actuator 2502, as also illustrated in Figure 23. If end actuator 2502 is within the first zone, logic 5560 then retrieves 5568 a fixed value for private motor property 2504 and then set 5570 motor property 2504 to that value. The fixed value can be stored, for example, in a lookup table implemented in memory. In the aspect of logic 5560 corresponding to Figure 23, for example, if the end actuator 2502 is within θ1 degrees of a position, then logic 5560 retrieves 5568 the duty cycle value of the DC2 motor 2504 and then adjusts the cycle 5570 motor working time 2504 to this value for the length of time the end actuator 2502 is within that specific portion of the first zone. In one aspect of logic 5560, there may be multiple zones designated in which a property of motor 2504, such as the duty cycle in which motor 2504 is driven, is set to a fixed value. In the aspect of logic 5560 corresponding to Figure 23, for example, in addition to the motor being adjusted for duty cycle DC2 if it is within θ1 degrees of a position 5516, the sweep range may include additional zones where the motor is adjusted for duty cycle DC1 if end actuator 2502 is greater than θ2 degrees from a position 5516. If end actuator 2502 is not within the first zone, that is, it is in the second zone, logic 5560 determines 5572 in instead of the motor property value corresponding to the specific position of the end actuator 2502 and then set the motor property 5574 to the determined value. Logic 5560 can determine 5572 the motor property value by accessing the characterization data output in a variety of ways, as described above.
[00174] [00174] Once motor property 2504 has been set 5570 to a fixed value or adjusted 5574 to a value that is a function of the position of the end actuator 5572, logic 5560 determines whether 5576 the scan of end actuator 2502 is completed or if the operator is otherwise terminated using the surgical instrument
[00175] [00175] Figure 26 represents a 5580 diagram illustrating the duty cycle of the 5584 motor in relation to the articulation angle of the end actuator for aspects using a constant motor duty cycle, a constantly variable motor duty cycle, and a engine duty cycle slightly variable. In some aspects of the 2500 surgical instrument, the engine duty cycle is kept constant over the entire width of the end actuator 2502, as represented by line 5594. In other words, the duty cycle of the 2504 engine is not a function of the position or the angle of articulation of the end actuator 2502. The constant duty cycle 5588 can be less than or equal to a maximum duty cycle 5586 in which the motor 2504 can be driven. In other respects, the duty cycle of the 2504 motor is varied according to the articulation angle of the end actuator 2502. In this aspect represented by line 5596, the articulation angle of the end actuator 2502 is continuously sampled and the disposition of articulation sensor has a correspondingly high resolution that is capable of detecting the articulation angle of the 2502 end actuator along its angular sweep. In this respect, the duty cycle of the 2504 motor can be updated at a very high rate, illustrated by the smooth and continuous curvature of the 5596 line. In another of these aspects represented by the 5598 line, the articulation angle of the end actuator 2502 is sampled in a relatively low rate and / or the hinge sensor arrangement has a relatively low resolution. In this respect, the duty cycle of the 2504 motor is updated at different points, instead of continuously along the course of the angular sweep of the end actuator 2502. Aspects that show the position of the end actuator 2502 at a high speed and update the duty cycle of the 2504 engine at a correspondingly high rate can be computationally expensive, but it can also produce a smoother, more consistent movement for the conforming and articulating 2502 end actuator.
[00176] [00176] Although the aspects illustrated in Figure 26 are described in terms of the engine's duty cycle, it should be understood that the principles are equally applicable to aspects in which the magnitude of the voltage supplied to the motor is adjusted or a combination of the duty cycle of the motor and the duty cycle of the motor are adjusted as a function of the articulation angle of the end actuator.
[00177] [00177] Figure 27 shows a diagram 5529 illustrating torque 5535 in relation to the articulation speed of a 5533 end actuator according to an aspect of the present description. Line 5531 shows the relationship between the articulation speed of the end actuator and the torque generated by the movement of the end actuator. In some respects, it may be beneficial to maintain the torque generated by the end actuator between a first τmin value and a second τmax value. Therefore, in order to maintain the torque generated by the articulation of the end actuator between τmin and τmax, the articulation speed of the end actuator is correspondingly maintained between a first value Vmin and a second value Vmax. In these aspects, the logic executed by the surgical instrument can be configured to maintain the articulation speed between Vmin and Vmax throughout the articulation range of the end actuator. In aspects where the articulation speed is adjusted to certain fixed values within designated areas of the end actuator articulation range, as shown in Figure 23, the fixed values can be within the upper and lower limits defined by Vmin and Vmax . In aspects where the end actuator is pivoted at a constant pivot speed across the entire pivot range or when the end actuator is not located in one or more of the aforementioned designated zones, then the speed at which the end actuator is pivoted it can likewise fall within the upper and lower limits established by Vmin and Vmax.
[00178] [00178] Figure 28 shows a diagram 5540 representing the articulation speed 5543 of the end actuator in relation to the articulation angle 5541 according to various control algorithms in accordance with an aspect of the present description. Line 5542 represents an aspect of the surgical instrument where the articulation actuator is driven by the motor at a constant rate, which causes the articulation speed of the end actuator to vary from a first end 5522 to a second end 5524 of its articulation range. In this respect, the motor tension and the motor duty cycle are kept constant regardless of the articulation angle of the end actuator, as shown in Figure 32. Figure 32 is a 5523 diagram that represents a control algorithm for controlling a speed of articulation of an end actuator using constant tension and no pulse width modulation. In this respect, the motor is maintained at a constant tension 5525, which results in the articulation speed represented by line 5527 increasing towards the ends 5522, 5524 of the articulation band of the end actuator.
[00179] [00179] On the other hand, lines 5544, 5546, 5548 in Figure 28 represent aspects of the surgical instrument that use control algorithms, such as the logic described in Figures 24 and 25, to make the end actuator have a speed of constant articulation throughout its range of motion. Such an aspect is illustrated in Figure 29. Figure 29 is a diagram 5501 that represents the tension 5505 in relation to the articulation angle of the end actuator 5503 for a control algorithm to control an articulation speed of an end actuator using variable voltage and no pulse width modulation. In this respect, the duty cycle is kept constant, but the magnitude of the voltage supplied to the motor is varied as a function of the articulation angle of the end actuator. For the specific connection of the articulation pivot assembly described in Figures 14 to 21, the articulation speed of the end actuator tends to increase at the ends of the articulation movement range. Therefore, in order to counteract this natural tendency and to keep the articulation speed of the end-actuator constant throughout the entire movement range, the magnitude of the voltage supplied to the motor varies between a maximum tension 5511 and a minimum tension 5509, so that the tension is decreased as the pivot angle of the end actuator approaches the ends 5522, 5524 of the movement range in order to slow the pivot actuator and thereby maintain a constant pivot speed. The tension at each end 5522, 5524 can be equal or uneven in various aspects of the surgical instrument.
[00180] [00180] Another such aspect is illustrated in Figure 30. Figure 30 is a diagram 5513 that represents the tension 5505 in relation to the articulation angle of the end actuator 5503 for a control algorithm to control an articulation speed of an actuator edge using constant tension and pulse width modulation. In this respect, the voltage supplied to the motor is maintained at a constant voltage 5515 and the duty cycle of the motor is reduced (so that x1> x2> x3 and so on) as the articulation angle of the end actuator approaches the ends 5522, 5524 of the movement range in order to slow the articulation actuator at the ends 5522, 5524 of the articulation range. Another aspect is illustrated in Figure 31. Figure 31 is a diagram
[00181] [00181] The functions or processes described here can be performed by any of the processing circuits described here, such as control circuit 700 described in connection with Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9 , microcontroller 1104 described in Figures 10 and 12 and / or control circuit 2510 described in Figure 14.
[00182] [00182] The aspects of the motorized surgical instrument can be practiced without the specific details described in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. 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 signals can be called bits, values,
[00183] [00183] 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 of them, can be seen as being composed of several types of "electric 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 of them.
[00184] [00184] 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 of them. In one aspect, several portions of the subject described here can be implemented using application specific integrated circuits ("ASICs"), field programmable gate arrays ("FPGAs' - field programmable gate arrays), processors digital signals ("DSPs" - digital signal processors), programmable logic devices ("PLDs" - programmable logic devices), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of components hardware and software, logic gates, or other integrated formats Some aspects described 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 , such as one or more programs operating on one or more computer systems), such 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 any combination of them, and that designing 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 at light of this description.
[00185] [00185] The mechanisms of the subject described 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.)).
[00186] [00186] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form described. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00187] [00187] Various aspects of the subject described in this document are defined in the following numbered examples:
[00188] [00188] Example 1. A surgical instrument comprising: an engine configured to drive an end actuator between an unarticulated position and an articulated position; a sensor configured to detect an articulation position of the end actuator and provide a signal indicative of the articulation position of the end actuator; and a control circuit coupled to the sensor and the motor, in which the control circuit is configured to: determine the position of the end actuator joint via the signal provided by the sensor; and providing a drive signal to the motor to pivot the end actuator at a speed corresponding to the signal indicating the pivot position of the end actuator.
[00189] [00189] Example 2. The surgical instrument of Example 1, in which the drive signal causes the motor to actuate the end actuator at a fixed speed when the articulation position of the end actuator is within a designated zone between the non-articulated position and the articulated position.
[00190] [00190] Example 3. The surgical instrument of Example 2, in which the designated zone corresponds to a limit distance of one position between the non-articulated position and the articulated position.
[00191] [00191] Example 4. The surgical instrument from Example 1 to Example 3, in which the trigger signal varies according to the articulation position of the end actuator, and the trigger signal causes the motor to actuate the end actuator at a variable speed according to the articulation position of the end actuator.
[00192] [00192] Example 5. The surgical instrument from Example 1 to Example 4, in which the trigger signal has a variable duty cycle, and the duty cycle varies according to the position of the end actuator.
[00193] [00193] Example 6. The surgical instrument from Example 1 to Example 5, in which the drive signal causes the motor to articulate the end actuator at a constant speed from the non-articulated position to the articulated position.
[00194] [00194] Example 7. A surgical instrument comprising: an articulation actuator configured to actuate an end actuator that is articulable between a first position and a second position, where the articulation actuator is configured to actuate the end actuator from the first position to the second position; a motor coupled to the articulation driver, in which the motor is configured to drive the articulation driver; a sensor configured to detect a hinge trigger position and provide a signal indicative of the hinge trigger position; and a control circuit coupled to the motor and the sensor, in which the control circuit is configured to: determine a position of the articulation actuator by means of the signal provided by the sensor; determining an angular position of the end actuator according to the sign indicating the position of the articulation actuator; and providing a drive signal to the motor to drive the motor at a speed corresponding to the angular position of the end actuator.
[00195] [00195] Example 8. The surgical instrument of Example 7, in which the drive signal causes the motor to drive the end actuator at a fixed speed when the angular position of the end actuator is within a designated zone between the first position and the second position.
[00196] [00196] Example 9. The surgical instrument of Example 8, in which the designated zone corresponds to a limit distance of one position between the first position and the second position.
[00197] [00197] Example 10. The surgical instrument from Example 7 to Example 9, in which the trigger signal varies according to the position of the end actuator, and the trigger signal causes the motor to drive the end actuator in a variable speed according to the position of the end actuator.
[00198] [00198] Example 11. The surgical instrument from Example 7 to Example 10, in which the trigger signal has a variable duty cycle that varies according to the position of the end actuator.
[00199] [00199] Example 12. The surgical instrument from Example 7 to Example 11, in which the first position is aligned with a longitudinal geometric axis of a drive axis.
[00200] [00200] Example 13. The surgical instrument from Example 7 to Example 12, wherein the first position is a first end of an end actuator pivot band and the second position is a second end of the end actuator pivot band .
[00201] [00201] Example 14. A method for controlling an engine in a surgical instrument, in which the surgical instrument comprises an engine configured to drive an end actuator between a non-articulated position and an articulated position, a sensor configured to detect a position of the end actuator joint and provide a signal indicating the position of the end actuator joint and a control circuit coupled to the sensor and the motor, in which the method comprises: determining, by the control circuit, the position of the actuator joint end through the signal provided by the sensor; and providing, through the control circuit, a drive signal to the motor to articulate the end actuator at a speed corresponding to the signal indicating the articulation position of the end actuator.
[00202] [00202] Example 15. The method of Example 14, being that it drives, through the control circuit, the motor at a fixed speed when the articulation position of the end actuator is within a designated zone between the non-articulated position and the position articulated.
[00203] [00203] Example 16. The surgical instrument of Example 15, in which the designated zone corresponds to a limit distance of one position between the first position and the second position.
[00204] [00204] Example 17. The method from Example 14 to Example 16, being that it drives, through the control circuit, the motor in a variable voltage according to the articulation position of the end actuator.
[00205] [00205] Example 18. The method from Example 14 to Example 17, which activates, through the control circuit, the motor in a variable duty cycle according to the articulation position of the end actuator.
[00206] [00206] Example 19. The method from Example 14 to Example 18, which drives the motor through the control circuit at a constant speed from the first position to the second position.

权利要求:
Claims (19)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a motor configured to drive an end actuator between a non-articulated position and an articulated position; a sensor configured to detect an articulation position of the end actuator and provide a signal indicative of the articulation position of the end actuator; and a control circuit coupled to the sensor and the motor, in which the control circuit is configured to: determine the articulation position of the end actuator through the signal provided by the sensor; and providing a drive signal to the motor to pivot the end actuator at a speed corresponding to the signal indicating the pivot position of the end actuator.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the drive signal causes the motor to actuate the end actuator at a fixed speed when the articulation position of the end actuator is within a designated zone between the non-articulated position and the articulated position.
[3]
3. Surgical instrument, according to claim 2, characterized by the fact that the designated zone corresponds to a limit distance of a position between the non-articulated position and the articulated position.
[4]
4. Surgical instrument, according to claim 1, characterized in that the trigger signal varies according to the articulation position of the end actuator, and the trigger signal causes the motor to actuate the end actuator in one variable speed according to the articulation position of the end actuator.
[5]
5. Surgical instrument, according to claim 1, characterized in that the trigger signal has a variable duty cycle, and the duty cycle varies according to the position of the end actuator.
[6]
6. Surgical instrument, according to claim 1, characterized by the fact that the drive signal causes the motor to articulate the end actuator at a constant speed from the non-articulated position to the articulated position.
[7]
7. Surgical instrument, characterized by the fact that it comprises: an articulation actuator configured to actuate an end actuator that is articulated between a first position and a second position, in which the articulation actuator is configured to actuate the end actuator from from the first position to the second position; a motor coupled to the articulation driver, in which the motor is configured to drive the articulation driver; a sensor configured to detect a hinge trigger position and provide a signal indicative of the hinge trigger position; and a control circuit coupled to the motor and the sensor, in which the control circuit is configured to: determine a position of the articulation actuator by means of the signal provided by the sensor; determining an angular position of the end actuator according to the sign indicating the position of the articulation actuator; and providing a drive signal to the motor to drive the motor at a speed corresponding to the angular position of the end actuator.
[8]
8. Surgical instrument, according to claim 7, characterized by the fact that the drive signal causes the motor to drive the end actuator at a fixed speed when the angular position of the end actuator is within a designated zone between the first position and second position.
[9]
9. Surgical instrument, according to claim 8, characterized by the fact that the designated zone corresponds to a limit distance of one position between the first position and the second position.
[10]
10. Surgical instrument, according to claim 7, characterized by the fact that the trigger signal varies according to the position of the end actuator, and the trigger signal causes the motor to drive the end actuator at a variable speed according to the position of the end actuator.
[11]
11. Surgical instrument, according to claim 7, characterized by the fact that the trigger signal has a variable duty cycle that varies according to the position of the end actuator.
[12]
12. Surgical instrument, according to claim 7, characterized by the fact that the first position is aligned with a longitudinal geometric axis of a drive axis.
[13]
13. Surgical instrument according to claim 7, characterized in that the first position is a first end of an articulation band of the end actuator and the second position is a second end of the articulation band of the end actuator.
[14]
14. Method for controlling an engine in a surgical instrument, characterized by the fact that the surgical instrument comprises a motor configured to drive an end actuator between a non-articulated position and an articulated position, a sensor configured to detect an articulation position of the end actuator and provide a signal indicating the articulation position of the end actuator and a control circuit coupled to the sensor and the motor, in which the method comprises: determining, through the control circuit, the articulation position of the end actuator through the signal provided by the sensor; and providing, through the control circuit, a drive signal to the motor to articulate the end actuator at a speed corresponding to the signal indicating the articulation position of the end actuator.
[15]
15. Method, according to claim 14, characterized by the fact that it is intended for the activation, by the control circuit, of the motor at a fixed speed when the articulation position of the end actuator is within a designated zone between the position not articulated and the articulated position.
[16]
16. Surgical instrument, as defined in claim 15, characterized by the fact that the designated zone corresponds to a limit distance of one position between the first position and the second position.
[17]
17. Method, according to claim 14, characterized by the fact that it is intended for the activation, by the control circuit, of the motor in a variable voltage according to the articulation position of the end actuator.
[18]
18. Method, according to claim 14, characterized by the fact that it is intended for the activation, by the control circuit, of the motor in a variable duty cycle according to the articulation position of the end actuator.
[19]
19. Method, according to claim 14, characterized by the fact that it is intended to drive the motor through the control circuit at a constant speed from the first position to the second position.

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,154|2017-06-20|

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US15/628,154|US20180360456A1|2017-06-20|2017-06-20|Surgical instrument having controllable articulation velocity|

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PCT/IB2018/053487|WO2018234889A1|2017-06-20|2018-05-17|Surgical instrument having controllable articulation velocity|

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