articulation state detection mechanisms

专利摘要:
The present invention relates to a surgical drive shaft assembly that includes a proximal drive shaft portion, a distal drive shaft portion, and a control circuit. A proximal drive shaft portion includes a first sensor that generates a first signal and a second sensor that generates a second signal. The distal drive shaft portion includes a rotating coupling assembly with the distal drive shaft portion about a longitudinal geometric axis and in relation to the proximal drive shaft portion. The coupling assembly is additionally rotatable with respect to the distal drive shaft portion to transition the drive shaft assembly between two articulation states. The rotation of the coupling assembly with the distal drive shaft portion alters the first signal, and the rotation of the coupling assembly with respect to the distal driving shaft portion alters the second signal. The control circuit is configured to detect a change in the second signal that occurs without a corresponding change in the first signal. The detected change indicates a transition between the two articulation states.
公开号:BR112019027000A2
申请号:R112019027000-0
申请日:2018-05-24
公开日:2020-06-30
发明作者:Brian D. Schings；Brett E. Swensgard；Raymond E. Parfett；Jason L. Harris；Frederick E. Shelton Iv
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND OF THE INVENTION
[0002] [0002] On a motorized surgical stapling and cutting instrument, it can be useful to measure the position and speed of a cutting element at a predetermined time or initial displacement to control the speed. Measuring the position or speed in relation to a predetermined time or initial displacement can be useful to assess the thickness of the tissue and to adjust the speed of the remaining course based on such a comparison against a limit.
[0003] [0003] Although several devices have been produced and used, it is believed that no one before the inventors made or used the device described in the attached claims. SUMMARY OF THE INVENTION
[0004] [0004] A drive shaft assembly can be used with a surgical instrument. The drive shaft assembly defines a longitudinal geometry axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly includes a proximal drive shaft portion that includes a first sensor and a second sensor. The drive shaft assembly also includes a portion of the rotary distal drive shaft about the longitudinal geometry axis and in relation to the proximal drive shaft portion. The distal drive shaft portion includes a housing, a first rotating magnet with the housing, a rotating coupling assembly in relation to the housing to transition the drive shaft assembly between an engaged pivot state and a articulated state disengaged, and a second rotating magnet with the coupling set. The drive shaft assembly additionally includes a control circuit configured to detect a transition from the engaged articulation state to the disengaged articulation state, based on the output signals from the first sensor and the second sensor.
[0005] [0005] A drive shaft assembly can be used with a surgical instrument. The drive shaft assembly defines a longitudinal geometry axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly includes a proximal drive shaft portion that includes a first sensor and a second sensor. The drive shaft assembly also includes a portion of the rotary distal drive shaft about the longitudinal geometry axis and in relation to the proximal drive shaft portion. The distal drive shaft portion includes a housing, a first rotating magnet with the housing, a rotating coupling assembly in relation to the housing to transition the drive shaft assembly between an engaged pivot state and a articulated state disengaged, and a second rotating magnet with the coupling set. The drive shaft assembly additionally includes a control circuit configured to detect a transition from the engaged articulation state to the disengaged articulation state, based on relative rotational positions of the distal drive shaft portion of the shaft assembly drive and coupling assembly.
[0006] [0006] A drive shaft assembly can be used with a surgical instrument. The drive shaft assembly defines a longitudinal geometry axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly includes a first proximal drive shaft portion that includes a first sensor configured to generate a first output signal and a second sensor configured to generate a second output signal. The drive shaft assembly also includes a portion of the distal drive shaft. The distal drive shaft portion includes a rotating coupling assembly with the distal drive shaft portion about the longitudinal geometric axis and in relation to the proximal drive shaft portion. The coupling assembly is additionally rotatable with respect to the distal drive shaft portion to transition the drive shaft assembly between an engaged pivot state and a disengaged pivot state. Rotating the coupling assembly with the distal drive shaft portion changes the first output signal. The rotation of the coupling assembly with respect to the distal drive shaft portion alters the second output signal. The drive shaft assembly also includes a control circuit in electrical communication with the first sensor and the second sensor, where the control circuit is configured to detect a change in the second output signal occurring without a corresponding change in the first exit signal, and in which the detected change indicates a transition between the engaged articulation state and the disengaged articulation state. FIGURES
[0007] [0007] The innovative characteristics of the various aspects described here are presented with particularity in the attached claims. Several aspects, however, 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 desires.
[0008] [0008] Figure 1 is a perspective view of a surgical instrument that has a set of drive axes and an end actuator according to one or more aspects of the present disclosure.
[0009] [0009] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this disclosure.
[0010] [0010] Figure 3 is an exploded view of an end actuator for the surgical instrument of Figure 1, according to an aspect of this disclosure.
[0011] [0011] Figure 4 is a perspective view of an RF cartridge and an elongated channel adapted for use with the RF cartridge in accordance with an aspect of the present disclosure.
[0012] [0012] Figure 5 is an exploded view of portions of the interchangeable drive shaft assembly of the surgical instrument of Figure 1, according to one aspect of this disclosure.
[0013] [0013] Figure 6 is another exploded view of portions of the interchangeable drive shaft assembly of Figure 1, according to an aspect of this disclosure.
[0014] [0014] Figure 7 is a cross-sectional view of a portion of the interchangeable drive shaft assembly in Figure 1, according to one aspect of this disclosure.
[0015] [0015] Figure 8 is a perspective view of a portion of the drive shaft assembly of Figure 1, with the switching cylinder omitted for the sake of clarity.
[0016] [0016] Figure 9 is another perspective view of the portion of the interchangeable drive shaft assembly of Figure 1 with the switching cylinder omitted for the sake of clarity.
[0017] [0017] Figure 10 is a partial perspective view of a con-
[0018] [0018] Figure 11 is a table that indicates the movement or lack thereof of various components of the drive shaft assembly of Figure 10, during rotation of the drive shaft controlled by the user and during a change in a state of coupling of the drive shaft assembly in Figure 10.
[0019] [0019] Figures 12 to 14 are partial perspective views of the drive shaft assembly of Figure 10 showing an engaged state of the coupling joint (Figure 12), an intermediate state of the coupling joint (Figure 13), and a disengaged state from the coupling joint (Figure 14).
[0020] [0020] Figures 15 to 17 are seen in partial cross section of the drive shaft assembly of Figure 10 showing an engaged state of the coupling joint (Figure 15), an intermediate state of the coupling joint (Figure 16), and a disengaged state from the coupling joint (Figure 17).
[0021] [0021] Figure 18 is a partial exploded view of a drive shaft assembly, according to an aspect of this disclosure.
[0022] [0022] Figure 19 is a partial cross-sectional view of the drive shaft assembly in Figure 18.
[0023] [0023] Figure 20 illustrates positions of relative rotation of two permanent magnets of the drive shaft assembly of Figure 18 in an engaged articulation state.
[0024] [0024] Figure 21 illustrates positions of relative rotation of two permanent magnets of the drive shaft assembly of Figure 18 in a disengaged hinge state.
[0025] [0025] Figure 22 is a circuit diagram illustrating a control circuit for use with the drive shaft assembly of Figure 18, according to one aspect of this disclosure.
[0026] [0026] Figure 23 is a partial perspective view of a set of drive axes, according to an aspect of this disclosure.
[0027] [0027] Figure 24 is another partial perspective view of the drive shaft assembly in Figure 23.
[0028] [0028] Figure 25 is a circuit diagram illustrating a control circuit for use with the drive shaft assembly of Figure 23, according to one aspect of this disclosure. DESCRIPTION
[0029] [0029] The applicant for this application holds the following US patent applications, which were filed on the same date as this application and which are each incorporated by reference in their respective totalities: - US Patent Application serial number, entitled
[0030] [0030] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the revealed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0031] [0031] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, where "proximal" refers to the portion closest to the doctor and the term "distal" refers to 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 guidelines and positions.
[0032] [0032] The terms "understands" (and any form of understanding, such as "understands" and "that understands"), "has" (and any form of has, such as "has" and "that has"), " includes "(and any form of includes, such as" includes "and" which includes ") and" contains "(and any form of contains, such as" contains "and" which contains ") are unrestricted linking verbs. As a result, a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more resources has those one or more resources, but is not limited to having only those one or more features.
[0033] [0033] 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 can be advanced. surgical instrument.
[0034] [0034] Figures 1 to 9 illustrate 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, manipulated and acted on by the physician. Compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally 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 drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. Interchangeable drive shaft assemblies
[0035] [0035] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operatively coupled thereto, according to an aspect of this disclosure. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. Enclosure 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, and that have different lengths, drive shaft sizes and types. 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 end actuator arrangements 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 inserted removably into and / or attached to the end actuator of a drive shaft assembly.
[0036] [0036] The cable assembly 14 may comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it.
[0037] [0037] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by frame 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a doctor. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "not acted" position to an "acted" position and, more particularly, to an fully compressed or fully actuated position.
[0038] [0038] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured
[0039] [0039] The electric motor 82 can include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reducer assembly 84 mounted on coupling coupling with a set or rack, of teeth drive 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed therein to meet
[0040] [0040] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, in which the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. 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 may 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 may include a sensor configured to detect the position of the longitudinal drive member. movably movable 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0041] [0041] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position .
[0042] [0042] 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
[0043] [0043] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the previously mentioned reference of US Patent Application publication 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.
[0044] [0044] Figure 3 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to one or more aspects of the present disclosure. End actuator 300 may include anvil 306 and surgical staple cartridge 304. In this non-limiting example, anvil 306 is coupled to an elongated channel 302. For example, openings 199 can be defined in elongated channel 302, which it can receive pins 152 extending from the anvil 306 and allow the anvil 306 to pivot from an open position to a closed position in relation to the elongated groove 302 and the surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator 300. The firing bar 172 can be built in a solid section or, in several examples, it can include a laminated material comprising, for example, a stack of steel plates. The firing bar 172 comprises an E-profile rod 178 and a cutting edge 182 at a distal end thereof. In many ways, the rod with an E-profile can be called a beam |. One end of the distally projected firing bar 172 can be attached to a shaft element with an E 178 profile in any suitable manner and can, among other things, assist in spacing anvil 306 from a staple cartridge surgical 304 positioned in the elongated channel 302, when the anvil 306 is in a closed position. The stem with an E 178 profile can also include a sharp cutting edge 182, which can be used to separate tissue, as the stem with an E 178 profile is distally advanced by the trigger bar 172. In operation, the stem with an E profile 178 can also drive, or fire, the surgical staple cartridge 304. The surgical staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 that rest on the staple actuators 192 inside from the respective staple cavities opened upward 195. A wedge slide 190 is moved distally by the E-profile rod 178, sliding over a cartridge tray 196 that holds the various components of the 304 staple cartridge together. The wedge slide 190 moves the clamp actuators 192 upwards by cam to expel the clamps 191 in deformation contact with the anvil 306, while the cutting edge 182 of the E-profile rod 178 cuts through the trapped tissue.
[0045] [0045] The rod with E 178 profile can include upper pins 180 that engage the anvil 306 during firing. The E-profile rod 178 may additionally include intermediate pins 184 and a base 186 for engaging various portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned on the inside the elongated rod 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. During use, the rod with profile in E 178 can slide through the aligned longitudinal slits 193, 197 and 189, in which, as shown in Figure 3, the base 186 of the E 178-shaped stem can engage a groove positioned along the lower surface of the channel elongated 302 along the length of the slot 189, the middle pins 184 can engage the top surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage the anvil 306. In such circumstances, the rod with E 178 profile can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, while the firing bar 172 is moved distally in order to fire the staples of the 304 staple cartridge and / or make an incision in the tissue captured between the anvil 306 and the 304 staple cartridge. After that, the firing bar 172 and the E-profile rod 178 can be retracted proximally allowing that the anvil 306 is opened to release the two stapled and cut tissue portions.
[0046] [0046] With reference to Figure 4, in at least one arrangement, an interchangeable drive shaft assembly can be used in connection with an RF 1700 cartridge as well as a surgical clamp / fastener cartridge.
[0047] [0047] The RF 1700 surgical cartridge includes a 1710 cartridge body that is sized and shaped to be received and removably supported in the elongated channel 1602. For example,
[0048] [0048] The cartridge body 1710 is formed with a central electrode block 1720 arranged centrally. The elongated slot 1712 extends through the center of the electrode block 1720 and serves to divide the block 1720 into a left block segment 1720L and a right block segment 1720R. A right flexible circuit set 1730R is attached to the right block segment 1720R and a left flexible circuit set 1730L is attached to the left block segment 1720L. In at least one arrangement for example, the straight flexible circuit 1730R comprises a plurality of 1732R wires that can include, for example, wider wires / conductors for RF purposes and thinner wires for conventional stapling purposes that are supported or fixed or embedded in a 1734R right insulating element / sheath that is fixed to the 1720R right block. In addition, the 1730R right flexible circuit assembly includes a 1736R "phase one" proximal right electrode and a 1738R "phase two" distal right electrode. Likewise, the left flexible circuit assembly 1730L comprises a plurality of 1732L wires that can include, for example, wider wires / conductors for RF purposes and thinner wires for conventional stapling purposes that are supported or fixed or embedded in a left insulating element / sheath 1734L which is attached to the left block 1720L. In addition, the 1730L left flexible circuit assembly includes a 1736L proximal "phase one" left electrode and a 1738L distal left "phase two" electrode. The 1732L, 1732R left and right wires are
[0049] [0049] The elongated channel 1602 includes a channel circuit 1670 which is supported in a recess 1621 that extends from the proximal end of the elongated channel 1602 to a distal location 1623 on the bottom portion of the elongated channel 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of a flexible drive shaft circuit strip for electrical contact therewith. A distal end 1674 of the channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the channel walls 1622 and is folded over and fixed to an upper edge 1627 of the channel wall 1622. A series of corresponding exposed contacts 1676 are provided at the distal end 1674 of the 1670 channel circuit. One end of a flexible cartridge circuit 1750 is attached to the distal microchip 1740 and is attached to the distal end portion of the cartridge body 1710. The other end is folded over the edge of the 1711 cartridge platform surface and includes exposed contacts configured to make electrical contact with the exposed contacts 1676 of the 1670 channel circuit. Thus, when the 1700 RF cartridge is installed in the elongated channel 1602, the electrodes as well as the 1740 distal microchip are powered and communicate with a circuit board through the contact between the flexible cartridge circuit 1 750, the flexible channel circuit 1670, a flexible drive shaft circuit and the slip ring assembly.
[0050] [0050] Figure 5 is another exploded view of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of this disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes a portion of the intermediate firing drive shaft 222, which is configured to connect to a distal portion or bar 280. The intermediate firing drive portion 222 may include a longitudinal slot 223 at its distal end, which can be configured to receive a flap 284 at the proximal end 282 the distal bar 280. The longitudinal slot 223 and the proximal end 282 can be dimensioned and configured to allow relative movement between them and can comprise a sliding joint 286. Sliding joint 286 can allow a portion of the drive shaft intermediate trigger 222 of trigger member 220 is moved to articulate end actuator 300 without moving, or at least without substantially moving, the rod 280. Once the end actuator 300 has been properly oriented, the portion of the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 in order to advancing the distal bar 280. Advancing the distal bar 280 causes the rod with E-profile 178 to be advanced distally to fire the staple cartridge positioned inside the channel 302.
[0051] [0051] In addition to the above, the drive shaft assembly 200 includes a coupling assembly 400 that can be configured to selectively and releasably couple the hinge driver 230 to the trigger member 220. In one form, the drive assembly the coupling 400 comprises a locking ring or sleeve 402 positioned around the firing member 220, in which the locking sleeve 402 can be rotated between a engaged position, in which the locking sleeve 402 engages the hinge actuator 230 to the firing member 220, and a disengaged position, in which the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in its engaged position , the distal movement of the firing member 220 can move the pivot actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the pivot actuator 230 proximally. When the locking sleeve 402 is in its 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 .
[0052] [0052] Locking sleeve 402 may comprise a cylindrical, or at least substantially cylindrical body, including a longitudinal opening 403 defined thereon, configured to receive the firing member 220. Locking sleeve 402 may comprise protruding diametrically opposing locking elements facing inwards 404 and a locking member facing outwards 406. Locking protrusions 404 can be configured to be selectively engaged with trigger member 220. More particularly, when locking sleeve 402 is in its engaged position, the locking protrusions 404 are positioned inside a drive notch 224 defined in the firing member 220, so that a distal pushing force and / or a proximal pulling force can be transmitted from the firing member 220 for locking sleeve 402. When locking sleeve 402 is in its engaged position, the second locking member 406 is received within a drive notch 232 defined in the hinge driver 230, so that the distal pushing force and / or the proximal pulling force applied to the locking sleeve 402 can be transmitted to the hinge driver 230. Indeed, the firing member 220, the locking sleeve 402 and the hinge driver 230 will move together when the locking sleeve 402 is in its engaged position. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protrusions 404 may not be positioned inside the drive notch 224 of the firing member 220 and, as a result, a distal pushing force and / or a proximal pulling force may not be transmitted from the firing member 220 to the locking sleeve 402. Correspondingly, the distal pushing force and / or the proximal pulling force may not be transmitted to the articulation driver 230. In these circumstances, the firing member 220 can be slid proximally and / or distally from the locking sleeve 402 and the proximal articulation driver 230.
[0053] [0053] The drive shaft assembly 200 additionally includes a switching cylinder 500 that is rotatably received in the closing tube 260. The switching cylinder 500 comprises a hollow drive shaft segment 502 that has a protrusion of drive shaft 504 formed therein, intended to receive inside it an actuation pin 410 that protrudes outwards. In various circumstances, the actuating pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when it is engaged with the actuator. pivot 230. A rotating torsion spring 420 is configured to engage the protrusion 504 on the switching cylinder 500 and a portion of the nozzle compartment 203, as shown in Figure 5, to apply a displacement force to the switching cylinder 500. The switching cylinder 500 may additionally comprise at least partially circumferential openings 506 defined inside, which, with reference to Figures 5 and 6, can be configured
[0054] [0054] The drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from him, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 mounted on a chassis flange 242 extending from the chassis 240 and a distal connector flange 601 positioned within a defined slot in the halves of nozzle 202 and 203. The proximal connector flange 604 may comprise a first face and the distal connector flange 601 may comprise a second face that is positioned adjacent and that is movable with respect to the first face. The distal connector flange 601 can rotate in relation to the proximal connector flange 604 around the axis of the SA-SA drive axis. 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 connector flange 601 and can have a plurality of contacts, where each contact corresponds to and is in electrical contact with one of the conductors 602. This arrangement allows for relative rotation between the flange proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 may include an electrical connector 606 that can place conductors 602 in signal communication with a circuit board mounted on the drive shaft chassis 240, for example. In at least one case, an electrical harness that comprises a plurality of conductors can extend between the electrical connector 606 and the circuit board. US patent application serial number 13 / 800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013, is incorporated by reference in its entirety. US patent application serial number 13 / 800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013, is incorporated by reference in its entirety. Additional details related to the slip ring assembly 600 can be found in US patent application serial number 13 / 803,086.
[0055] [0055] The drive shaft assembly 200 may include a proximal portion that is fixedly attached to the handle assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative 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 drive shaft portion. distal rotary drive. In addition to the above, the switching cylinder 500 can also be positioned within the distal rotating portion of the drive shaft. When the distal rotary drive shaft portion is rotated, the distal connector flange 601 and the switching cylinder 500 can be rotated synchronously to each other. In addition, the switching cylinder 500 can be rotated between a first position and a second position in relation to the flange of the distal connector 601. When the switching cylinder 500 is in its first position, the articulation drive system can be operationally disengaged of the trigger drive system and thus the operation of the trigger drive system may not articulate the end actuator 300 of the drive shaft assembly 200. When the switching cylinder 500 is in its second position , the articulation drive system can be operationally engaged with the trigger drive system and, thus, the operation of the trigger drive system can articulate the end actuator 300 of the drive shaft assembly 200. When the switching cylinder 500 is moved between its first position and its second position, the switching cylinder 500 is moved in relation to the flange of the distal connector 601.
[0056] [0056] In several cases, the drive shaft assembly 200 may comprise at least one sensor configured to detect the position of the switching cylinder 500. The distal connector flange 601 may comprise a Hall effect sensor 605, for example, and the switching cylinder 500 may comprise a magnetic element, such as a permanent magnet 505, for example. The Hall 605 effect sensor can be configured to detect the position of the permanent magnet 505. When the switch cylinder 500 is rotated between its first position and its second position, the permanent magnet
[0057] [0057] With reference to Figure 10, a drive shaft assembly 900 is similar in many respects to the drive shaft assembly 200. For example, the drive shaft assembly 900 can be releasably coupled to the handle assembly 14. In addition, the drive shaft assembly 900 includes end actuator 300, for example. The drive shaft assembly 900 also includes the closing tube 260 which is axially switchable to transition the end actuator 300 between an open configuration and a closed configuration. The drive shaft assembly 900 also includes the firing member 220 and the hinge driver 230 (Figure 6). In several respects, the drive shaft assembly 900 can be transitioned between an engaged articulation state (Figures 12, 15) in which the articulation drive 230 and the trigger member 220 are operationally coupled, one disengaged hinge state (Figures 14, 17) in which the hinge actuator 230 (Figure 6) and the firing member 220 are not operationally coupled, and an intermediate hinge state (Figures 13, 16) between the engaged state of articulation and the state of disengaged articulation.
[0058] [0058] In several aspects, the distal translation of the closing tube 260 can make the transition from the engaged state of articulation to the state of disengaged articulation, while the translation pro-
[0059] [0059] Like the drive shaft assembly 200, the drive shaft assembly 900 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or communicate signals to the end actuator 300 , for example. The slip ring assembly 600 may comprise a proximal connector flange 604 mounted between the chassis flange 242 and a washer 907 and a distal connector flange 601 positioned within a slot defined in the mouth halves 202 and 203 The distal connector flange 601 can rotate relative to the proximal connector flange 604 about a longitudinal geometry axis 912. The proximal connector flange 604 can comprise a plurality of concentric or at least substantially concentric conductors 602, defined in your first face. As described in greater detail above, conductors 602, 607 maintain electrical contact with each other while allowing relative rotation between the proximal connector flange 604 and the distal connector flange 601.
[0060] [0060] The drive shaft assembly 900 additionally includes a coupling assembly 905 that includes a switching ring or cylinder 903 which is rotatably received in the closing pipe 260. An interface between the closing pipe 260 and the switching cylinder 903 causes the switching cylinder 903 to be rotated in response to the axial movement of the closing tube 260. A rotating torsion spring 920 is configured to engage a projection 904 on the switching cylinder 903 and to a portion of the nozzle compartment 203 to apply a bias force to the switching cylinder 903. The switching cylinder 903 is allowed to rotate, but not translate, between the switching cylinder 903 and the next nozzle 201 The axial translation of the closing tube 260 causes the switching cylinder 500 to rotate, which will ultimately result in the transition of the drive shaft assembly 900 from the engaged state to the disengaged state of articulation. In this way, in essence, the closing tube 260 can be used to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in more detail in the US patent application serial number 13 / 803,086.
[0061] [0061] The drive shaft assembly 900 may include a proximal drive shaft portion that is fixedly mounted to the handle assembly 14, and a distal drive shaft portion that is rotatable about one longitudinal geometric axis. The rotary distal drive shaft portion can be rotated relative to the proximal drive shaft portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the drive shaft portion. distal rotary drive. In addition, in addition to the above, the switching cylinder 903 can also be positioned within the rotating distal drive shaft portion. When the rotating distal drive shaft portion is rotated, the distal connector flange 601, the closing tube 260, the switching cylinder 903, and the nozzle 201 can be rotated synchronously with respect to each other, as described in table 909 of Figure 11. Chassis flange 242, proximal connector flange 604 and washer 907 are not rotated during rotation of the distal drive shaft portion.
[0062] [0062] In addition to the above, the switch cylinder 903 can be rotated between a first position (Figures 12, 15), a second position (Figures 13, 16), and a third position (Figures 14, 17) in relation to chassis flange 242, proximal connector flange 604, washer 907, closing tube 260 and distal connector flange
[0063] [0063] In several cases, the drive shaft assembly 900 may comprise at least one sensor configured to detect the position of the switching cylinder 903. A distal connector flange 601 may comprise a printed circuit board (PCI) 908 that includes a Hall effect sensor 910, for example, and switching cylinder 903 may comprise a magnetic element, such as a permanent magnet 911, for example. The Hall effect sensor 910 can be configured to detect the position of the permanent magnet 911. When the switch cylinder 903 is rotated between its first position, its second position, and its third position, the permanent magnet 911 moves in relation to the Hall 910 effect sensor. In many circumstances, the Hall 910 effect sensor can detect changes in a magnetic field created when the permanent magnet 911 is moved. The Hall 910 effect sensor can vary its output signal in response to a change in the magnetic field caused by the movement of the permanent magnet 911. In many instances, the output signal can be a voltage output signal or a voltage signal. current output.
[0064] [0064] With reference to Figure 18, a drive shaft assembly 1000 is similar in many respects to the drive shaft assemblies 200, 900. In some examples, the drive shaft assembly 1000 is releasably coupled to the compartment 12 (Figure 1). Various components of the drive shaft assembly 1000 that are similar to the components shown in connection with the drive shaft assembly 200 and / or the drive shaft assembly 900 are removed to better illustrate components that are unique to the shaft assembly drive shaft 1000. For example, the drive shaft assembly 1000, like drive shaft assemblies 200, 900, includes a slip ring assembly that is not shown in Figure 18.
[0065] [0065] The drive shaft assembly 1000 includes a proximal drive shaft portion that is mounted securely to the handle assembly 14, and a distal drive shaft portion that is rotatable about a longitudinal geometric axis
[0066] [0066] In addition to the above, the switching cylinder 1003 can be rotated in relation to the closing tube 260. The axial translation of the closing tube 260 can rotate the switching cylinder 1003. Like the switching cylinder 903 , the switching cylinder 1003 can be rotated in response to the axial translation of the closing tube 260, which transitions the drive shaft assembly 1000 between the engaged hinge state and the disengaged hinge state. As discussed above, in the engaged state of articulation, the articulation drive system can be operationally engaged with the trigger drive system and, thus, the operation of the trigger drive system can articulate the end actuator 300 of the set drive shaft 1000. In the disengaged articulation state, the articulation actuation system can be operationally disengaged from the trigger actuation system and, therefore, the operation of the actuation actuation system may not articulate the actuator end 300 of the drive shaft assembly 1000.
[0067] [0067] With reference to Figure 18, the drive shaft assembly 1000 includes a rotation detection set 1004 configured to determine the rotational position of one or more components
[0068] [0068] Referring to Figure 19, Hall effect sensors 1005, 1006 are positioned on the same side of a support portion 1011. Hall effect sensors 1005, 1006 are positioned towards the opposite ends of the support portion 1011. Control circuit 1010 is at least partially housed in nozzle 201. In some examples, Hall effect sensors 1005, 1006 are housed in nozzle 201 but control circuit 1010 is housed elsewhere in the surgical instrument 10 (Figure 1), for example, in compartment 12. In the form of Figure 18, Hall effect sensors 1005, 1006 are positioned on opposite sides of a plane that transits the control circuit 1010, the support portion 1011 and the closing tube 260. Hall effect sensors 1005, 1006 are equidistant, or at least substantially equidistant, from the first permanent magnet 1007 in its initial position along the positive geometric axis Y, as shown in Figure 20.
[0069] [0069] As discussed above in connection with table 909 of Figure 11, the closing tube 260, the switching cylinder 1003, and the nozzle 201 are rotated synchronously with respect to each other during a controlled drive shaft rotation by the user, but only the switch cylinder 1003 is rotated during a change in the engaged hinge state. The speed detection set 1004 can track the drive shaft rotation controlled by the user by tracking the rotation of the nozzle 201, for example. In addition, the speed detection assembly 1004 can track the hitch engagement state of the drive shaft assembly 1000 by tracking the rotation of the switch cylinder 1003. The control circuit 1010 is configured to determine the rotational position of the nozzle 201 and / or the switching cylinder 1003 as defined by a degree and the direction of rotation.
[0070] [0070] With reference to Figures 18 to 21, the first permanent magnet 1007 is fixed to the nozzle 201. The rotation of the nozzle 201 causes the first permanent magnet 1007 to rotate around a longitudinal geometric axis 1012 that extends longitudinally through of the closing tube 260. Each rotational position of the first permanent magnet 1007 can be determined based on the distances (a) and (b) between the first permanent magnet 1007 and the Hall effect sensors 1005, 1006, respectively. Although a Hall effect sensor can be used to determine the degree of rotation of the distal drive shaft portion of the drive shaft assembly 1000, the use of two Hall effect sensors can still provide information regarding the direction of rotation of the distal drive shaft portion of the drive shaft assembly 1000. The intensity of the magnetic field of the first permanent magnet 1007 as detected by the Hall effect sensor 1005 corresponds to the distance (a) between the first permanent magnet 1007 and the Hall effect sensor 1005, and the magnetic field strength of the first permanent magnet 1007 as detected by the Hall effect sensor 1006 corresponds to the distance (b) between the first permanent magnet 1007 and the Hall effect sensor 1006. The output of Hall effect sensors 1005, 1006 correspond to the magnetic field strength of the first permanent magnet 1007 as detected by Hall effect sensors 1005, 1006.
[0071] [0071] Consequently, there is a correlation between the output signals of Hall effect sensors 1005, 1006 and their respective distances (a), (b) from the first permanent magnet 1007. The control circuit 1010 can be configured to determine the position rotation of the distal drive shaft portion of the drive shaft assembly 1000 in a user-controlled drive shaft rotation based on the output signals from the Hall 1005, 1006 effect sensors. In several examples, a ratio between the output signal of Hall effect sensor 1005 and Hall effect sensor 1006 corresponds to the rotational position of the distal drive shaft portion of the drive shaft assembly 1000. The output signal ratio will have a value that is unique for each rotational position of the distal drive shaft portion of the drive shaft assembly 1000, except for the ratio in the starting position along the positive Y axis and the ratio in the position along the negative Y axis which is Both are not equal to one. In each of the rotational positions at 0º and 180º, the distances (a) and (b) are equal, or at least substantially equal, which makes the output signal ratio equal to one.
[0072] [0072] To differentiate between the rotational positions at 0º and 180º, the magnitude of the output signal from one of the Hall effect sensors 1005, 1006 can be considered. Since the distances (a) and (b) in the 180º position, along the negative Y axis, are greater than the distances (a) and (b) in the 0º position, along the positive Y axis, an output signal ratio equal to one and an output signal greater than a predetermined voltage threshold may indicate that the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 is 180º along the axis Negative Y. However, an output signal ratio equal to one and an output signal less than the predetermined voltage threshold may indicate that the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 is 0 ° along positive Y axis. Besides that,
[0073] [0073] In some examples, control circuit 1010 may employ an equation and / or look-up table to determine the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 based on the output of Hall 1005, 1006 effect sensors. The lookup table can list rotational positions of the distal drive shaft portion of the drive shaft assembly 1000 and the corresponding output signal ratios of the output signals from the effect sensors Hall 1005, 1006.
[0074] [0074] Other algorithms for determining the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 based on the output signals from Hall effect sensors 1005, 1006 are contemplated by the present disclosure. In some examples, the difference between the output signals from Hall effect sensors 1005, 1006 can correlate with the rotational position of the distal drive shaft portion of the drive shaft assembly 1000. Control circuit 1010 can be configured to subtract the output signal of the Hall effect sensor 1005 from the output signal of the Hall effect sensor 1006, and determine the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 calculated based on in the voltage difference. The control circuit 1010 can employ a look-up table, for example, which lists the rotational positions of the distal drive shaft portion of the drive shaft assembly 1000 and their corresponding voltage differences. As described above, the differentiation between the rotational positions at 0º and 180º can be performed using additionally a predetermined tension limit.
[0075] [0075] Alternatively, in some instances, the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 can be determined from a lookup table that stores rotational positions of the drive shaft portion - distal drive of the drive shaft assembly 1000 in a first column, the corresponding output signals from the Hall effect sensor 1005 in a second column, and the corresponding output signals 1006 in a third column. The control circuit 1010 can be configured to determine a present rotational position of the distal drive shaft portion of the drive shaft assembly 1000 by consulting a value in the first column that corresponds to the values in the second and third columns. that correlate with the output signals present from Hall effect sensors 1005, 1006.
[0076] [0076] With reference to Figures 20, 21, the rotational position of the first permanent magnet 1007 is at an angle 81 clockwise. A control circuit 1010 receiving output signals from Hall effect sensors 1005, 1006 can determine the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 through a lookup table that includes rotational positions the distal drive shaft portion of the drive shaft assembly 1000 and corresponding values of the output signals, the ratios of the output signals, and / or the differences between the output signals. In some examples, control circuit 1010 is coupled to a screen 93 (Figure 1) which is configured to display the rotational position of the distal drive shaft portion of the drive shaft assembly 1000. Although the examples described above employ - they contain query tables, it must be understood that other mechanisms can be used to achieve the same results, for example, a memory unit 1122 (Figure 22), which can be accessed by the control circuit 1010.
[0077] [0077] In addition to rotating with the distal drive shaft portion of the drive shaft assembly 1000, the switch cylinder 1003 can be rotated relative to the drive shaft assembly 1000 around the longitudinal geometry axis 1012 in response to the axial translation of the closing tube 260. The switching cylinder 1003 is rotated from a first rotational position, as shown in Figure 20, to a second rotational position, as shown in Figure 21. While the cylinder switching unit 1003 is in the first rotational position, the drive shaft assembly 1000 is in the engaged pivot state. While the switching cylinder 1003 is in the second rotational position, the drive shaft assembly 1000 is in the disengaged hinge state. Since the permanent magnet 1008 is attached to the switching cylinder 1003, the rotational position of the permanent magnet 1008 can be indicative of the articulation state of the drive shaft assembly
[0078] [0078] Since the permanent magnet 1008 and the switching cylinder 1003 rotate with the drive shaft assembly 1000, two Hall effect sensors are required to discern the relative rotational movement between the switching cylinder 1003 and the control - with drive shaft 1000 in order to determine the state of articulation of the drive shaft assembly 1000. The first rotational position of the switching cylinder 1003, which corresponds to the state of articulation engaged, and the second position, which corresponds to the disengaged articulation state, will vary depending on the rotational position of the distal drive shaft portion of the drive shaft assembly 1000.
[0079] [0079] The control circuit 1010 is configured to determine a state of articulation of the drive shaft assembly 1000 by determining the rotational position of the switching cylinder 1003 in relation to the rotational position of the drive shaft portion. distal of the drive shaft assembly 1000. In other words, the control circuit 1010 is configured to determine a state of articulation of the drive shaft assembly 1000 by determining the rotational position of the permanent magnet 1008 in in relation to the rotational position of the permanent magnet
[0080] [0080] As described above in connection with the first permanent magnet 1007, the degree and direction of rotation of the second permanent magnet 1008 can be determined based on the output signals of the Hall effect sensors 1005, 1006. The intensity of the magnetic field of the second permanent magnet 1008 as detected by the Hall effect sensor 1005 corresponds to the distance (c) between the second permanent magnet 1008 and the Hall effect sensor 1005, and the intensity of the magnetic field of the second permanent magnet 1008 as detected by the Hall effect sensor 1006 corresponds to the distance (d) between the second permanent magnet 1008 and the Hall effect sensor 1006. The output signals from the Hall effect sensors 1005, 1006 correspond to the magnetic field strength of the second permanent magnet 1008 as detected by Hall effect sensors 1005, 1006. Consequently, there is a correlation between the output signals of Hall effect sensors 1005, 1006 and their respective distances (c), (d) from the second permanent magnet
[0081] [0081] The control circuit 1010 can be configured to determine the rotational position of the switching cylinder 1003 based on the output signals of the Hall effect sensors 1005, 1006, as described above in connection with the rotational position of the control set. drive axis 1000. As shown in Figures 20, 21, the rotational position of permanent magnet 1008 is at an angle B1 in the counterclockwise direction. A control circuit 1010 receiving output signals from Hall effect sensors 1005, 1006 can determine the rotational position of the switching cylinder 1003 using a query table that includes the rotating positions of the switching cylinder 1003 and values corresponding output signals, the reasons for the output signals, and / or the differences between the output signals, as described above in connection with determining the rotational position of the distal drive shaft portion of the drive shaft assembly 1000.
[0082] [0082] To determine the articulation status of the drive shaft assembly 1000, the control circuit 1010 is configured to detect the relative movement between the drive shaft assembly 1000 and the switching cylinder 1003. In other words, control circuit 1010 is configured to detect the relative movement between the first permanent magnet 1007, which is attached to the nozzle 201, and the permanent magnet 1008, which is attached to the switching cylinder 1003. In the example in Figures 20, 21, the rotational position of the distal drive shaft portion of the drive shaft assembly 1000 remains at angle 81. The rotational position of switch cylinder 1003, however, has changed from angle B1 to the B2 angle indicating a change in the articulation state of the drive shaft assembly 1000. Consequently, the rotational position of the permanent magnet 1008 moved in relation to the rotational position of the first permanent magnet 1007 as a result the rotation of the switching cylinder 1003 which causes the change in the articulation state of the drive shaft assembly 1000.
[0083] [0083] In some examples, as described in more detail above, a switching cylinder such as switching cylinder 1003 is movable between a first rotational position, corresponding to an engaged state of articulation, and a second rotational position, corresponding to a disengaged articulation state. In the first rotational position, a first angle 11 (Figure 20) is measured between the first permanent magnet 1007 and the permanent magnet 1008 regardless of the rotational position of the distal drive shaft portion of the drive shaft assembly
[0084] [0084] Consequently, the control circuit 1010 can be configured to determine the articulation state of the drive shaft assembly 1000 by determining the angle between the first permanent magnet 1007 and the permanent magnet 1008 and comparing that angle to a predetermined value. . In several examples, the angle between the first permanent magnet 1007 and the permanent magnet 1008 is defined by subtracting the rotational position of the first permanent magnet 1007 from the rotational position of the permanent magnet 1008. In some instances, the control circuit 1010 is coupled to a screen 93 (Figure 1) that is configured to display the detected articulation state of the drive shaft assembly 1000.
[0085] [0085] In some examples, the control circuit 1010 is configured to determine a change in the articulation state of the drive shaft assembly 1000 by detecting a change in the rotational position of the coupling assembly 1002 that occurs -
[0086] [0086] Figure 22 shows an example of the control circuit
[0087] [0087] In several examples, the control circuit 1010 can store a current articulation state of the drive shaft assembly 1000. Upon detection of a change in the joint state of the drive shaft assembly 1000, the control circuit
[0088] [0088] Other types of sensors can be used to determine an articulation state of a drive shaft assembly based on the relationship between the rotational positions of the distal drive shaft portion of a drive shaft assembly and its assembly coupling. In some arrangements, optical sensors, electromagnetic sensors, sealed mechanical contact switches, or any combination thereof can be used to determine a state of articulation for a set of drive axes based on the relationship between the rotational positions of the distal drive shaft portion of a drive shaft assembly and its coupling assembly. Figure 23 represents a partial perspective view of a drive shaft assembly 1100 that includes a coupling assembly 1102. A rotation detection assembly 1104 of drive shaft assembly 1100 employs optical sensors 1105, 1106 to determine a articulation state of the drive shaft assembly 1100 based on the relationship between the rotational positions of the distal drive shaft portion of the stem assembly 1100 and the coupling assembly 1102.
[0089] [0089] The speed detection set 1104 includes a control circuit 1110 configured to track the user-controlled drive shaft rotation by tracking the rotational position of a cylindrical portion 1107 of the nozzle 201, for example. In addition, control circuit 1110 is further configured to track the rotational position of coupling assembly 1102 by tracking the rotation of a cylindrical portion 1108 of a switching cylinder 1103 of coupling assembly 1102. The articulation state of the coupling assembly drive axis 1100 can be determined by the control circuit 1110 based on the relationship between the rotational positions of the cylindrical portions 1107, 1108.
[0090] [0090] The drive shaft assembly 1100 is similar in many ways to the drive shaft assembly 1000. For example, the drive shaft assembly 1100 includes the nozzle 201 and the closing tube 260. One movement axial closure tube 260 along a longitudinal geometry axis 1112 causes a coupling assembly 1102 to be rotated around longitudinal geometry axis 1112 transitioning the articulation drive shaft assembly 1100 between a state linkage engaged in a first rotational position of a switching cylinder 1103, and a link state disengaged in a second rotational position of switching cylinder 1103. As discussed above, in the linkage state engaged, the link drive system can be operationally coupled to the trigger drive system and, thus, the operation of the trigger drive system can articulate the end actuator 300 of the co drive shaft assembly 1100. In the articulated state disengaged, the articulation drive system can be operationally disengaged from the trigger drive system and, thus, the operation of the trigger drive system may not articulate the end actuator 300 of the drive shaft assembly 1100.
[0091] [0091] With reference to Figures 23, 24, the rotation of the detection set 1104 includes a support protrusion 1111 that extends between the cylindrical portions 1107, 1108. The optical sensors 1105, 1106 are positioned on opposite sides of the support projection 1111 so that the optical sensor 1105 faces, that is, directed towards, an internal surface of the cylindrical portion 1107. The optical sensor 1106 faces or is directed towards an external surface of the cylindrical portion 1108. Although the example of
[0092] [0092] As shown in Figure 23, the cylindrical portions 1107, 1108 are concentric and rotating around a longitudinal geometric axis 1112. The cylindrical portion 1107 is fixed to the nozzle 201 and includes a series of longitudinal slits 1125, each extending longitudinally in parallel, or at least substantially in parallel, with the longitudinal geometric axis 1112. Slits 1125 are formed in the cylindrical portion 1107 by producing minute longitudinal cuts that are spaced apart at predetermined distances. In some examples, predetermined distances can be the same, or at least substantially the same. Alternatively, in other examples, the predetermined distances can be different.
[0093] [0093] In Figure 24, the cylindrical portion 1107 is removed to better expose other components of the drive shaft assembly
[0094] [0094] In some examples, the predetermined distances can be the same, or at least substantially the same. Alternatively, in other examples, the predetermined distances can be different. In some examples, the slots 1125, 1126 are evenly spaced. Alternatively, slits 1125 can be spaced at predetermined distances that are different from the predetermined distances from slits 1126.
[0095] [0095] Optical sensors 1105, 1106 convert rays of light into output signals indicative of the physical amount of light detected. The control circuit 1110 is configured to determine the articulation status of the drive shaft assembly 1100 based on the output signals from the optical sensors 1105, 1106. Rotation of the cylindrical portions 1107, 1108 causes changes in the incident light detected. optical sensors 1105, 1106, respectively. When changes in incident light occur, optical sensors 1105, 1106 change their output signals in a way that corresponds to changes in incident light. The output signals from optical sensors 1105, 1106 can be an output voltage, an output current, or an output resistor.
[0096] [0096] As described above in connection with control circuit 1010, control circuit 1110 may employ various algorithms, equations, and / or look-up tables to determine the articulation status of the 1100 drive shaft assembly based output signals from optical sensors 1105, 1106 and / or derivatives thereof. Control circuit 1110 can be configured to use the output signal from optical sensor 1105 to count the number of slots 1125 that pass in relation to optical sensor 1105 during rotation of cylindrical portion 1107. Control circuit 1110 can also be configured to use the output signal from the optical sensor 1106 to count the number of slots 1126 that pass in relation to the optical sensor 1106 during the rotation of the cylindrical portion 1108. During a user-controlled rotation of the distal drive shaft portion of the assembly drive shaft 1100, drive shaft assembly 1100 and coupling assembly 1102 are rotated synchronously. Consequently, the number of counted slits 1125 and the number of counted slits 1126 remain at a constant, or substantially constant, slit ratio, while the slits 1125 are equally spaced apart and the slits 1126 are equally spaced from each other. During a change in the articulation state of the drive shaft assembly 1100, however, the coupling assembly 1102 is rotated relative to the drive shaft assembly 1100 causing the gap ratio to be changed. Control circuit 1110 can be configured to track the slit ratio and detect a change in the articulation state of the drive shaft assembly 1100 in response to a change in the slit ratio.
[0097] [0097] In some examples, control circuit 1110 is configured to determine a change in the articulation state of the drive shaft assembly 1100 by detecting a change in the rotational position of the coupling assembly 1102 that occurs - re without a corresponding change in the rotational position of the distal drive shaft portion of the drive shaft assembly
[0098] [0098] Figure 25 shows an example of the control circuit
[0099] [0099] In several examples, the control circuit 1110 can store a current articulation state of the drive shaft assembly 1100. Upon detection of a change in the control state of the drive shaft assembly 1100, control circuit 1110 can update the stored articulation state and display the new articulation state on screen 93.
[0100] [0100] In some examples, one or both of the optical sensors 1105, 1106 may be a through-beam sensor. Through-beam sensors employ two separate components, a transmitter and a receiver, which are placed opposite each other. The transmitter projects a beam of light onto the receiver. An interruption of the light beam is interpreted as a key signal by the receiver. In the examples where the optical sensors 1105, 1106 are through-beam sensors, a transmitter and receiver can be positioned on opposite sides of each of the cylindrical portions 1107, 1108. The light beams from the transmitters of the optical sensors 1105, 1106 can dem pass through slits 1125, 1126, respectively, to the receivers. Rotating the cylindrical portions 1107 and 1108 can interrupt the light beams. Such interruptions can be traced by the control circuit 1110 to determine the rotational positions of the distal drive shaft portion of the drive shaft assembly 1100 and the switch cylinder 1103.
[0101] [0101] In other examples, optical sensors 1105, 1106 can be retro-reflective sensors where transmitters and receivers are on the same side of a cylindrical portion. The beam of light emitted is directed back to the receiver through a reflector. In other examples, optical sensors 1105, 1106 can be diffuse reflection sensors where the transmitter and receiver are on the same side of a cylindrical portion. The transmitted light is reflected by the cylindrical portion to be detected.
[0102] [0102] Since the coupling assemblies are rotated synchronously with their respective driveshaft assemblies, detecting a change in the articulation state requires tracking the rotation of the coupling assembly in relation to the driving shaft assembly. An alternative approach, however, may involve tracking the axial translation of the coupling assembly that is caused to occur during a change in the joint state in addition to the rotation. A switch plate may include ramps or tabs that interface with the switching cylinder of the coupling assembly causing the switching cylinder to be raised or moved axially as the switching cylinder is rotated in relation to the drive shaft assembly during a change in the state of articulation. The axial movement of the switching cylinder can be detected by a position sensor, for example. A control circuit can be configured to interpret an axial translation of the switching cylinder as a change in the articulation status of the drive shaft assembly. The switching cylinder can be spring loaded against the switch plate to return the switching cylinder to its initial position during rotation in the opposite direction. The switch plate can include grips configured to receive ribs or tabs on the nozzle to ensure rotational alignment of the switch plate and nozzle.
[0103] [0103] In certain instances, an axial translation of the switching cylinder, during the rotation of the coupling assembly, can also be obtained by forming external threads on an external surface of the switching cylinder that interfaces with the internal threads of a switch nut. The rotating movement of the switching cylinder causes the switch nut to move | indirectly. A suitable sensor can be configured to detect the position of the switch nut. A control circuit can be configured to determine the state of articulation based on the position of the switch nut.
[0104] [0104] In certain cases, the detection of the articulation state of a set of drive axes can be achieved by fixing a spring bundle conductive to the external diameter of the switching cylinder. The conductive spring beam detects the rotation of the coupling assembly which indicates a change in the articulation state. The conductive spring bundle can be a component of a passable circuit between an open configuration when the coupling assembly is in an engaged articulation state, and a closed configuration when the coupling assembly is in a disengaged articulation state. Alternatively, the conductive spring bundle may be a component of a transitional circuit between an open configuration when the coupling assembly is in a disengaged hinge state, and a closed configuration when the coupling assembly is in an engaged hinge state.
[0105] [0105] In certain instances, a barcode reading component can be used to detect a change in the articulation state of a drive shaft assembly. Barcode scanners operate by detecting the amount of black color on a white background, for example. The switching cylinder of the coupling assembly and the nozzle can be configured to present the barcode reader with a first pattern in an engaged state and a second pattern, different from the first pattern, in a state of articulation disengaged. Rotating the coupling assembly relative to the nozzle can cause a transition from the first pattern to the second pattern.
[0106] [0106] In a general sense, those skilled in the art will recognize that the various aspects described here, which can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware, or any combination of these, they can be seen as being composed of several types of "electrical circuits". Accordingly, as used in the present invention, "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 specific application, electrical circuits that form a general purpose computing device configured by a computer program (for example, a general purpose computer configured by a computer program that at least partially performs processes and / or devices described herein , or a processor configured by a computer program that at least partially executes the processes and / or devices described here), 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 other equipment) electric-optical). Those skilled in the art will recognize that the subject described here can be implemented in an analog or digital way, or in some combination of these.
[0107] [0107] The detailed description mentioned above presented various aspects of the devices and / or processes through the use of block diagrams, flowcharts and / or examples. Although these block diagrams, flowcharts and / or examples contain one or more functions and / or operations, it will be understood by those skilled in the art that each function and / or operation within these block diagrams, flowcharts or examples can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, various portions of the subject described in the present invention can be implemented by means of application specific integrated circuits (ASICs, "Application Specific Integrated Circuits"), field programmable door arrangements (FPGAs, de " Field Programmable Gate Arrays "), digital signal processors (DSPs, from" Digital Signal Processors ") or other integrated formats. Those skilled in the art will recognize, however, that some aspects of the aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example , such as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually like any combination of them, and that designing the circuit set
[0108] [0108] In addition, those skilled in the art will understand that the mechanisms of the subject described here can be distributed as a program product in a variety of ways, and that an illustrative aspect of the subject described here is applicable regardless of the specific type of program. means of signal transmission used to effectively carry out the distribution. Examples of a signal transmission medium include, but are not limited to, the following: a recordable 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.).
[0109] [0109] In summary, numerous benefits have been described that result from the use of the concepts described in this document. The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more aspects were chosen and described for the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient for the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0110] [0110] Various aspects of the subject described in this document are defined in the following numbered examples:
[0111] [0111] Example 1 - A drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly comprises a proximal drive shaft portion, a distal drive shaft portion, and a control circuit. The proximal drive shaft portion comprises a first sensor and a second sensor. The distal drive axis portion is rotatable about the longitudinal geometric axis and in relation to the proximal drive axis portion. The distal drive shaft portion comprises a housing, a first rotating magnet with the housing, a coupling assembly, and a second rotating magnet with the coupling assembly. The coupling assembly is rotatable with respect to the housing to transition the drive shaft assembly between an engaged pivot state and a disengaged pivot state. The control circuit is configured to detect a transition from the engaged articulation state to the disengaged articulation state, based on the output signals from the first sensor and the second sensor.
[0112] [0112] Example 2 - The driving shaft set in Example 1, where the first sensor and the second sensor are Hall effect sensors.
[0113] [0113] Example 3 - The drive shaft set of one or more of Examples 1 to 2, in which the output signals from the first and second sensors define a rotational position of the drive shaft set .
[0114] [0114] Example 4 - The drive shaft assembly of one or more of Examples 1 to 3, in which the first magnet and the second magnet comprise opposite orientations.
[0115] [0115] Example 5 - The drive shaft set of one or more of Examples 1 to 4, in which the output signals of the first and second sensors define a rotational position of the coupling assembly.
[0116] [0116] Example 6 - The drive shaft assembly of one or more of Examples 1 to 5, wherein the drive shaft assembly additionally comprises an end actuator extending from it.
[0117] [0117] Example 7 - A drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly comprises a proximal drive shaft portion, a distal drive shaft portion, and a control circuit. The proximal drive shaft portion comprises a first sensor and a second sensor. The distal drive axis portion is rotatable about the longitudinal geometric axis and in relation to the proximal drive axis portion. The distal drive shaft portion comprises a housing, a first rotating magnet with the housing, a coupling assembly, and a second rotating magnet with the coupling assembly. The coupling assembly is rotatable with respect to the housing to transition the drive shaft assembly between an engaged pivot state and a disengaged pivot state. The control circuit is configured to detect a transition from the engaged articulation state to the disengaged articulation state, based on relative rotational positions of the distal drive shaft portion of the drive shaft assembly and coupling assembly.
[0118] [0118] Example 8 - The driving shaft set of the Example
[0119] [0119] Example 9 - The drive shaft set of one or more of Examples 7 to 8, in which the output signals from the first and second sensors define the rotational positions of the drive shaft set .
[0120] [0120] Example 10 - The drive shaft set of one or more of Examples 7 to 9, in which the output signals of the first and second sensors define the rotational positions of the coupling assembly.
[0121] [0121] Example 11 - The drive shaft assembly of one or more of Examples 7 to 10, in which the first magnet and the second magnet comprise opposite orientations.
[0122] [0122] Example 12 - The drive shaft assembly of one or more of Examples 7 to 11, wherein the drive shaft assembly additionally comprises an end actuator extending from it.
[0123] [0123] Example 13 - A drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly comprises a proximal drive shaft portion, a distal drive shaft portion, and a control circuit. The proximal drive shaft portion comprises a first sensor configured to generate a first output signal and a second sensor configured to generate a second output signal. The distal drive shaft portion comprises a rotating coupling assembly with the distal drive shaft portion around the longitudinal geometric axis and in relation to the proximal drive shaft portion, wherein the rotation of the housing assembly
[0124] [0124] Example 14 - The driving shaft set in Example 13, where the first sensor and the sensor are optical sensors.
[0125] [0125] Example 15 - The drive shaft assembly of one or more of Examples 13 to 14, wherein the distal drive shaft portion comprises a first cylindrical portion that includes the first slots, in which the first slots are passed over the first sensor during the rotation of the distal drive shaft portion, and the passage of the first slots over the first sensor changes the first output signal.
[0126] [0126] Example 16 - The drive shaft assembly of one or more of Examples 13 to 15, in which the coupling assembly comprises a second cylindrical portion including the second slits, in which the second slits they are passed over the second sensor during the rotation of the coupling assembly in relation to the distal drive shaft portion, and in which the passage of the second slits along the second sensor alters the second output signal.
[0127] [0127] Example 17 - The drive shaft assembly of one or more of Examples 13 to 16, in which the first sensor and the second sensor are arranged on opposite sides of a support element.
[0128] [0128] Example 18 - The drive shaft assembly of one or more of Examples 13 to 17, in which the support element extends between the first cylindrical portion and the second cylindrical portion.
[0129] [0129] Example 19 - The drive shaft assembly of one or more of Examples 13 to 18, in which the first sensor is directed towards an internal surface of the first cylindrical portion.
[0130] [0130] Example 20 - The drive shaft set of one or more of Examples 13 to 19, in which the second sensor is directed towards an external surface of the second cylindrical portion.
[0131] [0131] Example 21 - A drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly. The drive shaft assembly includes a proximal drive shaft portion and a distal drive shaft portion. The proximal drive shaft portion comprises a first sensor configured to generate a first output signal and a second sensor configured to generate a second output signal. The distal drive shaft portion comprises a rotary switching component with the distal drive shaft portion around the longitudinal geometric axis and in relation to the proximal drive shaft portion, where the switching component it is additionally rotatable with respect to the distal drive shaft portion to transition the drive shaft assembly between an engaged state of articulation and a disengaged state of articulation.
The rotation of the distal drive shaft portion in relation to the proximal drive shaft portion is determined based on the first output signal, and the rotation of the switching component in relation to the distal driving shaft portion is determined based on the in a combination of the first output signal and the second output signal.

权利要求:
Claims (21)
[1]
1. Drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly, characterized in that the drive shaft assembly comprises: a proximal drive shaft portion, which comprises: a first sensor; and a second sensor; a portion of the rotary distal drive axis around the longitudinal geometric axis and in relation to the proximal drive axis portion, wherein the distal drive axis portion comprises: a compartment; a first rotating magnet with the compartment; a rotating coupling assembly in relation to the compartment for transitioning the drive shaft assembly between an engaged articulation state and a disengaged articulation state; and a second rotating magnet with the coupling set; and a control circuit configured to detect a transition from the engaged articulation state to the disengaged articulation state, based on the output signals from the first sensor and the second sensor.
[2]
2. Drive shaft assembly, according to claim 1, characterized in that the first sensor and the second sensor are Hall effect sensors.
[3]
3. Drive shaft assembly, according to the
vindication 1, characterized in that the first and second output signal sensors define a rotational position of the drive shaft assembly.
[4]
4. Drive shaft assembly, according to claim 1, characterized in that the first magnet and the second magnet comprise opposite orientations.
[5]
5. Drive shaft assembly, according to claim 1, characterized in that the first and second output signal sensors define a rotational position of the coupling assembly.
[6]
6. Drive shaft assembly, according to claim 1, characterized in that the drive shaft assembly additionally comprises an end actuator extending from it.
[7]
7. Drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly, characterized in that the drive shaft assembly comprises: a proximal drive shaft portion, which comprises: a first sensor; and a second sensor; a portion of the rotary distal drive axis around the longitudinal geometric axis and in relation to the proximal drive axis portion, wherein the distal drive axis portion comprises: a compartment; a first rotating magnet with the compartment; a rotating coupling assembly in relation to the
split to transition the drive shaft assembly between an engaged articulation state and a disengaged articulation state; and a second rotating magnet with the coupling set; and a control circuit configured to detect a transition from the engaged hinge state to the disengaged hinge state, based on relative rotational positions of the distal drive shaft portion of the drive shaft assembly and coupling assembly.
[8]
8. Drive shaft assembly, according to claim 7, characterized in that the first sensor and the second sensor are Hall effect sensors.
[9]
9. Drive shaft assembly, according to claim 7, characterized in that the first and second output signal sensors define the rotational positions of the drive shaft assembly.
[10]
10. Drive shaft assembly, according to claim 7, characterized in that the first and second output signal sensors define the rotational positions of the coupling set.
[11]
11. Drive shaft assembly, according to claim 7, characterized in that the first magnet and the second magnet comprise opposite orientations.
[12]
12. Drive shaft assembly, according to claim 7, characterized in that the drive shaft assembly additionally comprises an end actuator extending from it.
[13]
13. Drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly, characterized in that the drive shaft assembly comprises: a proximal drive shaft portion, which comprises: a first sensor configured to generate a first output signal; and a second sensor configured to generate a second output signal; a portion of the distal drive shaft comprising a rotating coupling assembly with the portion of the distal drive shaft around the longitudinal geometric axis and in relation to the proximal drive shaft portion, where the coupling assembly is additionally rotatable with respect to the distal drive shaft portion, and in which the rotation of the coupling assembly in relation to the distal driving shaft portion changes the second output signal; and a control circuit in electrical communication with the first sensor and the second sensor, where the control circuit is configured to detect a change in the second output signal occurring without a corresponding change in the first output signal , and in which the detected change indicates a transition between the state of articulated engagement and the state of disengaged articulation.
[14]
14. Drive shaft assembly, according to claim 13, characterized in that the first sensor and the second sensor are optical sensors.
[15]
15. Drive shaft assembly, according to claim 14, characterized in that the distal drive shaft portion comprises a first cylindrical portion that includes the first slits, in which the first slots are passed over the first sensor during the rotation of the distal drive shaft portion, and when the passage of the first slits over the first sensor changes the first output signal.
[16]
16. Drive shaft assembly, according to claim 15, characterized in that the coupling assembly comprises a second cylindrical portion that includes the second slits, in which the second slits are passed over the second sensor during rotation of the coupling set in relation to the distal drive shaft portion, and in which the passage of the second lifts along the second sensor alters the second output signal.
[17]
17. Drive shaft assembly according to claim 16, characterized in that the first sensor and the second sensor are arranged on opposite sides of a support element.
[18]
18. Drive shaft assembly, according to claim 17, characterized in that the support element extends between the first cylindrical portion and the second cylindrical portion.
[19]
19. Drive shaft assembly, according to claim 18, characterized in that the first sensor is directed to an internal surface of the first cylindrical portion.
[20]
20. Drive shaft assembly, according to claim 19, characterized in that the second sensor is directed to an external surface of the second cylindrical portion.
[21]
21. Drive shaft assembly for use with a surgical instrument, the drive shaft assembly defining a longitudinal geometric axis that extends longitudinally through the drive shaft assembly, characterized in that the drive shaft assembly comprises: a proximal drive shaft portion, which comprises: a first sensor configured to generate a first sensor
exit terminal; and a second sensor configured to generate a second output signal; and a distal drive shaft portion comprising a rotating switching component with the distal driving shaft portion around the longitudinal geometric axis and in relation to the proximal driving shaft portion, wherein the switching component is additionally rotatable with respect to the distal drive shaft portion to transition the drive shaft assembly between an engaged hinge state and a disengaged hinge state;
wherein the rotation of the distal drive shaft portion relative to the proximal drive shaft portion is determined based on the first output signal, and where the rotation of the switching component relative to the distal driving shaft portion is determined based on a combination of the first output signal and the second output signal.

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同族专利:

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公开号 | 公开日

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EP3420958A1|2019-01-02|

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WO2019002974A1|2019-01-03|

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JP2020525176A|2020-08-27|

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US20190000555A1|2019-01-03|

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EP3791812A1|2021-03-17|

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EP3420958B1|2020-11-04|

---

CN110799123A|2020-02-14|

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US10603117B2|2020-03-31|

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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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US15/635,628|US10603117B2|2017-06-28|2017-06-28|Articulation state detection mechanisms|

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US15/635,628|2017-06-28|

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PCT/IB2018/053701|WO2019002974A1|2017-06-28|2018-05-24|Articulation state detection mechanisms|

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