systems and methods to control the speed of a displacement member of a surgical cutting and stapling

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member, a motor coupled to the displacement member, the motor being operable to transfer the displacement member, a control circuit coupled to the motor, and a position sensor coupled to the control circuit. The control circuit is configured to receive a position output from the position sensor indicative of at least one position of the displacement member and to control the motor speed to translate the displacement member at a plurality of speeds corresponding to the exit position. Each of the plurality of speeds is maintained in a predetermined zone.
公开号:BR112019027040A2
申请号:R112019027040-0
申请日:2018-05-17
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[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
[0002] [0002] In a motorized surgical stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the speed of the cutting member during a firing stroke to account for tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a scan range of the end actuator.
[0003] [0003] When using a motorized surgical cutting and stapling instrument it is possible that the firing force experienced by the cutting member or firing member may be substantially different based on the location of the cutting or firing member during the course of shooting. In general, the first zone is the most highly loaded and the last zone is the least highly loaded. Therefore, it may be desirable to define the firing stroke in different zones with different speeds of advancement of the cutting member in each zone based on the force to trigger the load experienced by the firing system and to vary the firing speed of the cutting member with based on the position of the cutting member along the firing stroke. It would be desirable to set the firing speed to the slowest speed in the first zone where the cutting member or firing member is under the highest load and to increase the speed in each subsequent zone. It may be desirable to define the speed in the first zone by determining the thickness of the fabric or the span of the fabric by measuring any combination of current through the motor, time to advance the cutting member a predefined distance, displacement of the cutting member for a predefined time, or any representation for the load on the engine. SUMMARY
[0004] [0004] In one aspect, the present disclosure provides a surgical instrument. The surgical instrument comprises a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and controlling the speed of the motor to translate the displacement member into a plurality of speeds corresponding to the position output, each of the plurality of speeds being maintained in a predetermined zone.
[0005] [0005] In another aspect, the surgical instrument comprises a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and driving the motor to move the displacement member at a speed of the displacement member corresponding to the position of the displacement member.
[0006] [0006] In another aspect, the surgical instrument comprises a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member along the distance between the proximal position and the distal position; and driving the motor in a plurality of working cycles corresponding to the position output, each of which among the plurality of working cycles is maintained in a predetermined zone between the proximal position and the distal position. FIGURES
[0007] [0007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[0008] [0008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this disclosure.
[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 a view of the exploded set of portions of the interchangeable drive shaft assembly, according to one aspect of this disclosure.
[0011] [0011] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this disclosure.
[0012] [0012] Figures 5A to 5B is a block diagram of a control circuit for the surgical instrument of 1 that comprises two drawing sheets, according to one aspect of this disclosure.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the cable assembly, the power assembly and the cable assembly and the interchangeable drive shaft assembly, according to with an aspect of the present revelation.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present disclosure.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, the absolute positioning system comprising a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of the present revelation.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor array, according to one or more aspects of this revelation.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present disclosure.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present disclosure. .
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present disclosure.
[0022] [0022] Figure 15 illustrates a diagram plotting two displacement limb courses performed, according to one aspect of the present disclosure.
[0023] [0023] Figure 16 represents two diagrams illustrating the force to close (from English, "force to close", FTC) the anvil of the surgical instrument of Figure 1 as a function of the closing stroke offset (d) and the Force to fire (from English, "force to fire", FTF) the surgical instrument of Figure 1 as a function of time according to one aspect of the present disclosure.
[0024] [0024] Figure 17 illustrates a logic flow diagram showing an example of a control program process or a logical configuration that can be performed by a surgical instrument (for example, a surgical instrument control circuit) to implement an i-beam firing course according to an aspect of the present disclosure.
[0025] [0025] Figure 18 is a diagram illustrating the speed (v) of the I-beam as a function of the displacement of the firing stroke (d) according to an aspect of this disclosure.
[0026] [0026] Figure 19A is a logic flow diagram representing a trigger control program or logic configuration according to an aspect of the present disclosure.
[0027] [0027] Figure 19B is a logic flow diagram representing a trigger control program or logic configuration according to an aspect of the present disclosure.
[0028] [0028] Figure 20 represents two diagrams illustrating the force to fire (FTF) of the surgical instrument of Figure 1 as a function of time, and the duty cycle of the motor (% speed) of an engine that drives the I-beam as a function of the I-beam displacement (d) according to one aspect of this disclosure.
[0029] [0029] Figure 21 represents two diagrams illustrating the motor duty cycle (% speed) of a motor that drives the I-beam as a function of the I-beam displacement (d), and Pulse Width Modulation ( PWM) as a function of the I-beam displacement (d) according to one aspect of this disclosure.
[0030] [0030] Figure 22 represents two diagrams illustrating the force to close the anvil of the surgical instrument of Figure 1 as a function of time and the force to fire the surgical instrument from
[0031] [0031] Figure 23 illustrates an anvil according to one aspect of this disclosure. DESCRIPTION
[0032] [0032] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0033] [0033] Attorney document number END8191USNP / 17 0054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0034] [0034] Attorney Document No. END8192USNP / 17 0055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0035] [0035] Attorney document number END8193USNP / 17 0056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0036] [0036] Attorney document number END8194USNP / 17 0057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0037] [0037] Attorney document number END8195USNP / 17 0058,
[0038] [0038] Attorney document number END8196USNP / 17 0059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY by the inventors Frederick ES. Shelton, IV et al., Filed on June 20, 2017.
[0039] [0039] Attorney document number END8198USNP / 17 0061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0040] [0040] Attorney document number END8222USNP / 17 0125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0041] [0041] Attorney document number END8199USNP / 17 0062M, entitled ECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0042] [0042] Attorney document number END8275USNP / 17 0185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0043] [0043] Attorney document number END8268USNP / 17 0186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0044] [0044] Attorney document number END8276USNP / 17 0187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0045] [0045] Attorney document number END8266USNP / 17 0188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0046] [0046] Attorney document number END8267USNP / 17 0189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0047] [0047] Attorney Document No. END8269USNP / 17 0190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20,
[0048] [0048] Attorney document number END8270USNP / 17 0191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL
[0049] [0049] Attorney document number END8271USNP / 17 0062M, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0050] [0050] Attorney document number END8274USDP / 17 0193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0051] [0051] Attorney document number END8273USDP / 17 0194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0052] [0052] Attorney document number END8272USDP / 17 0195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0053] [0053] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the disclosed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this disclosure.
[0054] [0054] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0055] [0055] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or one through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft of the surgical instrument can be advanced.
[0056] [0056] Figure 1 to 4 illustrates a surgical instrument powered by motor 10 for cutting and fixation that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a cable assembly 14 that is configured to be picked up, handled and operated by the physician. The compartment 12 is configured for operational attachment to an interchangeable drive shaft assembly 200 that has an end actuator 300 operably coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies disclosed herein can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9,072,535, entitled SURGICAL STAPLING INSTR UMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which is incorporated herein reference, in its entirety.
[0057] [0057] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled thereto, in accordance with an aspect of this disclosure. The housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 therein. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements tips adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0058] [0058] The cable assembly 14 can comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached thereto. A screen can be provided under a cover 45.
[0059] [0059] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this disclosure. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by the structure 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin
[0060] [0060] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 can employ an electric motor 82 located in the pistol grip portion 19 of the cable assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a maximum rotation of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The electric motor 82 can be powered by a power supply 90 which can comprise a removable power source 92. The removable power source 92 can comprise a portion of the proximal compartment 94 that is configured for attachment to a portion of the distal compartment 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to support operationally a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery ("LI") or other suitable battery . The distal compartment portion 96 is configured for removable operational attachment to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can power the surgical instrument 10. The power supply 90 can be replaceable and / or rechargeable. A screen 43, which is located below the cover 45, is electrically coupled to the control circuit board 100. The cover 45 can be removed to expose the screen 43.
[0061] [0061] The electric motor 82 may include a rotary drive shaft (not shown), which, in an operational manner, interfaces with a gear reduction assembly 84 mounted on coupling coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0062] [0062] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The cable assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The cable assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0063] [0063] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be rotated between an unacted position and an acted position.
[0064] [0064] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0065] [0065] Returning to Figure 1, the closing tube 260 is translated 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 the publication Patent Application No. 2014/0263541. Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0066] [0066] Figure 3 is another view of the exploded set of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present disclosure. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a portion distal cutter or cutter bar 280. The firing member 220 can be called a "second drive shaft" or a "second drive shaft assembly". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a tab 284 at the proximal end 282 of the cutter bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and may comprise a slide joint 286. The slide joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot end actuator 300 around pivot joint 270 without moving, or at least without substantially moving the cutter bar 280. When the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutting bar 280 and fire a staple cartridge positioned inside the groove
[0067] [0067] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the articulation actuator 230 to the firing member 220, and a disengaged position, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The mouthpiece 201 can be employed to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in US Patent Application Publication No. 2014/02635 41.
[0068] [0068] The interchangeable drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from it, for example.
[0069] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated with respect to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal rotary drive shaft portion.
[0070] [0070] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this disclosure. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow anvil 306 to rotate from an open position to a closed position in relation to the elongated groove 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator
[0071] [0071] The I-shaped rod 178 may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the I-shaped rod 178 can slide through the aligned longitudinal slits 193, 197 and 189, and, as indicated in
[0072] [0072] Figures 5A to 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1 occupying two drawing sheets, according to one aspect of this disclosure. Referring mainly to Figures 5A to 5B, a cable assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the motor 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the power set 706 releasably mounted to the cable set 200 to supply control power to the surgical instrument 10. The power set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0073] [0073] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with corresponding electrical drive shaft assembly connectors and a second interface portion 727 which can include one or more connectors for coupling coupling with the corresponding power pack electrical connectors to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply assembly 706 are coupled s to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the controller management module can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the 704 fixed drive shaft assembly. The connectors can comprise switches that can be activated after mechanically coupling the cable assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0074] [0074] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 722 by routing these communication signals through a main controller 717 located in the assembly cable 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are attached to cable assembly 702.
[0075] [0075] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0076] [0076] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0077] [0077] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The power management circuit can be configured to modulate the battery's output power based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power supply 706 and the current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output the supply set 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0078] [0078] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0079] [0079] The control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each circuit segment can be coupled to the safety controller and / or the main controller
[0080] [0080] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0081] [0081] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0082] [0082] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft set 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument
[0083] [0083] The position encoder segment (segment 6) comprises one or more magnetic encoders of the position of the rotation angle. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0084] [0084] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0085] [0085] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0086] [0086] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0087] [0087] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot for the right side, one for the right pivot for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0088] [0088] Any suitable mechanical, electromechanical, or solid state switches can be used to implement the plurality of switches, in any combination. For example, the keys can limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0089] [0089] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the cable assembly 702 and the power supply 706 and between the cable assembly 702 and the cable assembly. interchangeable drive shaft 704, in accordance with an aspect of the present disclosure. Cable assembly 702 can comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. Power assembly 706 may include a power assembly connector 732, a power management circuit power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power requirements of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the power pack tion 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the cable assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described herein.
[0090] [0090] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the cable assembly
[0091] [0091] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The processor
[0092] [0092] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0093] [0093] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present disclosure. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824, a clock 829 and, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data through the combinational logic circuit 822, and provide an output 828. In other respects, the circuit may comprise a combination of the 802 processor and the finite state machine for implementing various processes of the present invention. In other respects, the finite state machine may comprise a combination of the combinational logic circuit 810 and the sequential logic circuit 820.
[0094] [0094] Aspects can be implemented in the form of a manufacturing article. The manufacturing article may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
[0095] [0095] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising a motor controlled drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with one aspect of the present disclosure. Position sensor 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member
[0096] [0096] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted on a coupling hitch with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member
[0097] [0097] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 represents the longitudinal linear distance by which the displacement member 1111 moves from the point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the position sensor 1112 completing one or more revolutions for the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the full travel of the travel member 1111.
[0098] [0098] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the position sensor 1112. The state of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the drive member 1111. The output 1124 of the position sensor 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements, which emit a unique combination of signal position or values.
[0099] [0099] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the driving member 1111 to the reset position (zero or initial), as can be case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0100] [0100] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. Electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with an articulation or scalpel system. In one aspect, an 1110 motor drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND ME THODS FOR
[0101] [0101] Controller 1104 can be programmed to provide precise control of the speed and position of travel member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0102] [0102] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an absolute positioning system 1100 is coupled to a digital data capture system in the which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control circuit, that trigger the calculated response towards the measured response . The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input which will be the states and outputs of the physical system. Controller 1104 can be a control circuit 700 (Figures 5A to 5B).
[0103] [0103] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide (MOSFET) field transistors. , N-channel, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor Input control can be used to supply the excess voltage to that supplied by the battery needed for the N channel MOSFETs. An internal charge pump for the upper side drive allows operation in direct current (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be readily replaced for use in the 1100 absolute positioning system.
[0104] [0104] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the disclosure now turns to Figures 11 to 12 for a description of an aspect of a sensor array 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111, and a set of gears 1206 to provide a gear reduction. With reference to Figure 2, the drive member 1111 can represent the longitudinally movable drive member 120 which comprises a rack of drive teeth 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to Figure 11, a structural element, such as a bracket 1216, is provided to support gear assembly 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises one or more magnetic sensing elements as effect elements Hall, and is positioned next to magnet 1202. As magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[0105] [0105] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0106] [0106] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a 3: 1 gear ratio. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive 1111 moves in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive shaft 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. Thus, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P, corresponds to three rotations of the second gear 1210 and a single rotation of first gear 1208. As the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with each stroke the complete of drive member 1111.
[0107] [0107] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for holding the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A central point 1222 is provided that mates with first gear 1208 and magnetic support 1204. Second gear 1210 and third gear 1212 coupled to shaft 1214 are also shown.
[0108] [0108] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The position sensor 1200 can be implemented as a rotary, magnetic, single-chip position sensor, AS5055EQFT, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution ADC and a 1238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation DIgital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an AS5055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[0109] [0109] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transversal to an electric current conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor and stored integrated in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, when energizing or upon demand from controller 1104.
[0110] [0110] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[0111] [0111] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[0112] [0112] Figure 13 is a cross-sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the I-shaped profile 2514 in relation to the tissue 2526 trapped inside the actuator end 2502, in accordance with an aspect of the present disclosure. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a staple cartridge 2518 positioned in the elongated groove 2503. An firing 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. An I-shaped rod 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[0113] [0113] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graph 2529 aligned with end actuator 2502. The exemplifying tissue 2526 is also shown aligned with end actuator 2502. The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the I-profile rod 2514, the I-profile rod 2514 can be advanced distally from the start position 2527 to the end position 2528. The I 2514 profile rod is shown in an exemplary location of the 2527 start position. The 2529 stroke profile of the I 2514 profile rod illustrates five regions of trip member 2517, 2519, 2521, 2523 and 2525. In a first region of the trip course 2517, the I-shaped rod 2514 can begin to advance distally. In the first region of the firing stroke 2517, the I-shaped rod 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come in contact with the fabric and the wedge slider
[0114] [0114] In the second stroke region of firing member 2519, cutting edge 2509 can begin to come in contact and cut the fabric
[0115] [0115] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the firing system of the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem with I-2514 profile can be advanced or retracted at a desired speed, or within a range of desired speeds Controller 1104 can be configured to control the speed of the I-profile rod 2514. Controller 1104 can be configured to predict the speed of the 2514 I-shaped rod based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operational parameters of the 1122 electric motor, or external influences. Controller 1104 can be configured to predict the current speed of the I-shaped profile 2514 based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-shaped profile 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I 2514 profile rod and the detected speed of the I 2514 profile rod to determine whether the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod in I 2514 and / or decreased in order to decrease the speed of the I-shaped stem
[0116] [0116] The force acting on the rod with I 2514 profile can be determined using various techniques. The strength of the I-profile rod 2514 can be determined by measuring the current of the 2504 motor, the current of the engine 2504 being based on the load experienced by the I-profile rod 2514 as it advances distally. The strength of the rod with I 2514 profile can be determined by placing a tension meter on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the rod with I 2514 profile (rod with I-profile 178, Figure 20), on the trigger bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the I-profile rod 2514 can be determined by monitoring the actual position of the rod with I-2514 profile that moves at an expected speed based on the set current speed of the 2504 motor after a predetermined elapsed period T1 and by comparing the actual position of the I-2514 profile rod with the expected position of the profile rod in I 2514 based on the set current speed of the motor 2504 at the end of the T1 period. Thus, if the actual position of the I 2514 profile rod is less than the expected position of the I 2514 profile rod, the force on the I 2514 profile rod is greater than a nominal force. On the other hand, if the actual position of the rod with I 2514 profile is greater than the expected position of the rod with I 2514 profile, the force on the rod with I 2514 profile is less than the nominal force. The difference between the actual and expected positions of the I-2514 shaped rod is proportional to the force deviation in the I-2514 shaped rod from the nominal force. These techniques are described in the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[0117] [0117] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present disclosure. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile stem 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[0118] [0118] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Because the rod with I-shaped profile 2514 is coupled to a longitudinally movable driving member 120, the position of the rod with profile in I 2514 can be determined by measuring the position of the longitudinally movable driving member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the closing member 2514 can be obtained by the position sensor 2534, as described in the present invention. A control circuit 2510, such as control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the I-shaped rod 2514, as described in connection with Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors, or other processors suitable for executing instructions that cause the processor or processors to control the displacement member, for example, the profile rod in I 2514, as described. In one aspect, a timer / counter 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate the position of the rod with I-2514 profile, as determined by the position sensor 2534, with the timer / counter output 2531 so that the control circuit 2510 can determine the position of the I-profile rod 2514 at a specific time (t) in relation to an initial position. The 2531 timer / counter can be configured to measure elapsed time, count external events, or measure external events.
[0119] [0119] The control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some examples, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in
[0120] [0120] The 2504 motor can receive power from a power source
[0121] [0121] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters such as gap distance in relation to time, the compression of the tissue in relation to time, and the tension of the anvil in relation to time. The 2538 sensors may comprise, for example, a magnetic sensor, a magnetic field sensor, a voltage meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[0122] [0122] The one or more 2538 sensors may comprise a strain gauge, such as a microtension gauge, configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[0123] [0123] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a hold operation by a processor as described in Figures 5A to 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[0124] [0124] A current sensor 2536 can be used to measure the current consumed by the 2504 motor. The force required to advance the rod with I-profile 2514 corresponds to the current drained by the motor
[0125] [0125] Using the physical properties of the instruments disclosed here, now with reference to Figures 1 to 14, and with reference to Figure 14, the 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software. A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be one or any of the feedback feedback controllers, including, but not limited to, a PID, state feedback, LQR, and / or an adaptive controller, for example. The 2500 surgical instrument can include a power source to convert the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example.
[0126] [0126] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or rod with I 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a system articulation and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[0127] [0127] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0128] [0128] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise an articulating anvil 2516 and, when configured for use, an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the I-shaped rod 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0129] [0129] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the I-profile rod 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[0130] [0130] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel of the displacement member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, the 2510 control circuit can modulate the motor
[0131] [0131] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present disclosure. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[0132] [0132] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is placed between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trip control program that advances the rod with I-profile 2514 at a constant selected speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the rod with I-profile 2514 to Vlenta speed by monitoring the position of the rod with I-profile 2514 and modulation of the setpoint of the engine 2522 and / or the motor start signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[0133] [0133] During the initial time period (for example, the open circuit period) between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the displacement member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[0134] [0134] Referring to Figure 16, a 6040 diagram plots an example of the force applied during a closing stroke to close the end actuator 2502 around the tissue clamped between the anvil 2516 and the staple cartridge 2518, the closing force plotted as a function of the closing stroke offset (d). Diagram 6040 comprises two geometric axes. A vertical axis 6042 indicates the force to close (FTC) the end actuator 2502 in newtons (N). A horizontal axis 6044 indicates a distance traveled by a closing member, such as closing tube 260 (Figure 1) to cause end actuator 2502 to close. During the closing stroke, closing tube 260 is translated distally (direction "DD") to move the anvil 2516, for example, in relation to the staple cartridge 2518 in response to the actuation of the closing trigger 32 (Figure 1) in the manner described in the previously mentioned reference of the patent application publication US No. 2014/0263541. In other cases, the closing stroke involves moving a staple cartridge in relation to an anvil in response to the actuation of the closing trigger 32. In other cases, the closing stroke involves moving the staple cartridge and the anvil in response to actuation. of the closing trigger 32.
[0135] [0135] Diagram 6040 indicates that the closing force (FTC) of the end actuator 2502 increases as the closing tube 260 moves distally. The closing force (FTC) reaches a maximum force (Fmax) at a distance (d) covered by the closing tube 260 from an initial position. An end actuator 300, which is similar in many respects to end actuator 2502, compresses the fabric to a maximum limit corresponding to the maximum force (Fmax). The maximum force (Fmax) depends, at least in part, on the thickness of the tissue clamped by the 2502 end actuator. In one example, the closing member is configured to travel the distance (d1) of about 0.210 "(5.334 mm) ) to achieve a maximum force (Fmax) of about 160 pounds force (711,715 newtons).
[0136] [0136] Figure 16 also shows a 6046 diagram that plots an example of the force applied to fire (FTF) the surgical instrument
[0137] [0137] I-beam 2514 is advanced from an initial time (t = 0).
[0138] [0138] Diagram 6046 indicates that the force to fire (FTF) the surgical instrument 2500 increases to a maximum force (F2) at the top of the highest peak 6052. The maximum force (F2) is in an initial section of the firing stroke during engagement of the 2513 wedge slider. The top of the smallest peak 6054 represents a maximum force (F1) that occurs in the final section of the firing stroke. The maximum force (F1) is applied to the I-beam 2514 during engagement of the wedge slide 2513 with the distal clamp drivers 2511. In addition, the intermediate peaks 6056, which occur in an intermediate section of the firing stroke, between the peak 6052 and peak 6054, describe a descending slope 6053 of the force required to fire (FTF) the surgical instrument 2500 during the middle section of the firing stroke. The descending slope 6053 starts at a time (t1) corresponding to the maximum force (F1) at the top of the highest peak 6052. The descending slope 6053 generally results from a gradual reduction in load as the I-beam 2514 advances the wedge slide 2513 through the intermediate portion of the firing stroke beyond time (t1).
[0139] [0139] Figure 17 illustrates a logic flow diagram showing an example of a 6030 process from a control program or a logical configuration that can be performed by the 2500 surgical instrument (for example, the 2510 control circuit) to implement a course I-beam responsive to tissue conditions and / or staple cartridge type. Control circuit 2510 can receive 6031 a trip signal. The trigger signal can be received 6031 from trigger 32 (Figure 1) or another suitable actuation device. For example, a physician can place end actuator 2502, secure the tissue between anvil 2516 and staple cartridge 2518, and then actuate trigger 32 to initiate an I-beam stroke. Trigger 32 can be configured to supply the trigger signal to control circuit 2510 upon actuation.
[0140] [0140] The 2510 control circuit, in response to the trip signal, can provide an initial 6032 motor configuration. For example, the initial configuration can be a motor 2522 setpoint provided to the motor controller 2508. The motor controller 2508 can translate the initial motor setpoint 2522 into a PWM signal, voltage signal, or other signal. motor drive suitable for driving motor 2504. In some examples, (for example, when control circuit 2510 directly generates the motor 2524 drive signal), the initial motor configuration may be a motor 2524 drive signal provided directly to the engine
[0141] [0141] The 2510 control circuit can receive movement data from the I-beam element 6036. The movement data from the E-member beam can comprise information (for example, from the 2534 position sensor) that describes the position and / or I-beam movement 2514. Although receiving I-beam member movement data 6036 may be a portion of process 6030, in some instances, control circuit 2510 may receive 6036 beam member movement data -I while while I-beam 2514 is in motion. For example, when position sensor 2534 is an encoder, control circuit 2510 can receive pulse signals from the encoder while I-beam 2514 is moving with each pulse signal representing a quantum of motion. In addition, in the examples in which the 2504 motor is a stepper motor, the 2510 control circuit can derive I-beam member movement data based on the total number of steps that the 2510 control circuit instructs the 2504 motor to run.
[0142] [0142] I-beam limb movement data that may indicate a distance that the 2514 I-beam moved during the initial time period, which may reflect tissue conditions such as thickness and / or sturdiness of the between the anvil 2516 and the staple cartridge 2518 because different types of fabric will offer different levels of resistance. For example, thicker or more resistant fabrics can provide more mechanical resistance to the knife and staples. More mechanical resistance can cause the 2504 engine to run more slowly while the initial engine configuration is kept substantially constant. Similarly, thinner or weaker fabric may provide less mechanical strength for the knife and staples. This can make the engine run faster and travel a greater distance while the initial engine configuration is kept substantially constant.
[0143] [0143] After the initial motor configuration is provided, the 2500 instrument can operate in an open circuit configuration in a first diagnostic portion (1a) of zone 1, as shown in Figure 18. For example, the drive start signal motor
[0144] [0144] The 2510 control circuit can be configured to maintain the initial motor configuration for an open circuit portion of the trigger member travel. In the example in Figure 17, the open circuit portion of the I-beam course can continue until I-beam 2514 has crossed an initial distance. Consequently, the control circuit 2510 can be configured to maintain the initial configuration of the motor until the I-beam has crossed the initial distance. The starting distance can be, for example, a predetermined portion of the total distance between the starting position of the firing stroke and the final position of the firing stroke (for example, 1/6, 1/4, 1/3, etc.). ). In one example, the initial open circuit distance is a first initial portion (1a) of zone 1 that extends a distance of about 0.200 "(5.08 mm) from the start position 2527 (Figure 13 Control circuit 2510 can determine 6034 from motion data from the I-beam member received if I-beam 2514 has traversed the initial distance. If not, the 2510 control circuit can continue to provide 6032 the initial configuration motor and receive 6036 additional motion data from the I-beam member.
[0145] [0145] In some examples, the initial open circuit distance is a first diagnostic portion (1a) of zone 1, covering a selected distance between about 1 millimeter and about 10 millimeters. In some instances, the initial open circuit distance covers a selected distance between about 3 millimeters and about 7 millimeters.
[0146] [0146] Process 6030 can proceed if control circuit 2510 determines 6034 that the I-beam has traversed the initial distance. In some examples, the control circuit 2510 can keep a counter or timer 2531 running (Figure 14) while the initial distance is traveled. When control circuit 2510 determines that the I-beam has traveled the initial distance, control circuit 2510 can stop timer 2531. Control circuit 2510 can determine 6039 an I-beam speed over the initial distance. The 2510 control circuit can find the speed of the I-beam by taking the initial distance divided by the time needed to travel the distance.
[0147] [0147] Alternatively, in some examples, the open circuit portion may be an initial time period, which may also be referred to as an open circuit time period. The initial time period can be of any suitable length including, for example, 100 milliseconds. A position sensor, such as the 2534 position sensor (Figure 14) can track the position of the 2514 I-beam during the initial time period. The 2510 control circuit can determine an I-beam speed over the initial time period. The control circuit 2510 can find the speed of the I-beam by taking the distance traveled by the I-beam 2514 during the initial time period divided by the initial time period. The speed of the I-beam 2514 in the first diagnostic portion (1a) of zone 1 can be indicative of the conditions of the tissue such as the thickness and / or the strength of the tissue present between the anvil 2516 and the staple cartridge 2518.
[0148] [0148] Alternatively, in some examples, the current (I)
[0149] [0149] Now returning to Figure 17, the control circuit 2510 can select 6038 a trigger control program or configuration, for example, based on the determination of the I-beam speed and / or the current (I) consumed by the motor 2504 in the open circuit portion in the first diagnostic portion (1a) of zone 1. Control circuit 2510 can execute 6041 the trigger control program or the selected logic configuration.
[0150] [0150] In some examples, the trigger control program can determine a target value for the movement of I-beam 2514 during the rest of the I-beam course. Figure 18 illustrates a diagram 6100 that plots speed versus distance traveled along a firing stroke by three example I-beam courses 6106, 6108, 6110, which can be implemented by the firing control programs selected in 6038. The diagram 6100 includes two geometric axes. A horizontal axis 6102 represents the travel stroke offset in millimeters. A vertical axis 6104 indicates the speed of the I-beam 2514 in millimeters per second. As shown in Figure 18, examples 6106, 6108, 6110 initially have the same speed as the I-beam in the first diagnostic portion (1a) of zone 1 of the firing stroke distance.
[0151] [0151] In example 6106 of Figure 18, the trigger control program is configured to maintain the I-beam speed 2514 at a constant, or substantially constant, predetermined speed.
[0152] [0152] As described above in relation to diagram 6046 in Figure 16, the firing force (FTF) gradually decreases as the 2514 I-beam is advanced during the firing stroke. As such, the 2514 I-beam firing force (FTF) is generally higher at the start of the firing stroke than in the middle of the firing stroke, and generally higher in the middle of the firing stroke than at the end of the firing stroke. firing time. By maintaining a reduced speed of the I-beam 2514 in portions of the firing stroke where the I-beam 2514 experiences higher loads, the performance of the 2504 motor and the 2512 power source is improved. First, the total current (i) consumed by the 2504 motor during the trip stroke is reduced, which prolongs the life of the 2512 power source (Figure 14). Secondly, reducing the speed of the I-beam 2514 over portions of the firing stroke with the highest loads protects the 2504 motor from stopping. Increased resistance can cause the 2504 engine to stop. Stopping is a condition in which the engine stops turning. This condition occurs when the load torque is greater than the torque of the motor drive shaft.
[0153] [0153] To reduce the load or force to fire (FTF) applied to I-beam 2514, alternative fire control programs are employed by the 2510 control circuit. Two of the fire control programs are represented in examples 6108, 6110 of Figure 18. Figure 19B illustrates a logic flow diagram showing an example of a 6131 process from a control program or a logical configuration that can be selected 6038 and executed 6041 by the 2500 surgical instrument (for example, the control circuit 2510) in 6041 to implement an I-beam course responsive to the conditions of the fabric and / or the type of staple cartridge. The firing process 6131 may include driving I-beam 2514 at a speed that increases linearly as I-beam 2514 is advanced along the firing stroke, as illustrated in an example 6108 in Figure 18.
[0154] [0154] Control circuit 2510 controls 6132 motor 2504 to reach an initial speed (v1) at a predetermined position at a starting point 6101. Control circuit 2510 drives I-beam 2514 6134 with a linearly increasing speed at a predetermined rate as the I-beam 2514 is advanced along the firing stroke by modulating the setpoint of the motor 2522 and / or the motor drive signal 2524 to produce a linear, or substantially linear, increase, in the speed of the I-beam 2514 as the I-beam 2514 is advanced along the firing stroke. The speed ratio of I-beam 2514 is maintained at 6135 until the end of the firing stroke.
[0155] [0155] The control circuit 2510 can monitor the position of the I-beam 2514 indicated by the position sensor 2534 and the time, as indicated by the timer 2531. The data from the position sensor 2534 and timer 2531 can be used by the control circuit. control 2510 to sample the speed of the I-beam 2514 in different positions along the firing stroke. The sampled speed can be compared to the predetermined thresholds to determine how to modulate the motor setpoint 2522 and / or the motor drive signal 2524 to produce the linear, or substantially linear, increase in the I-beam speed 2514 as measured I-beam 2514 is advanced along the firing stroke. In some examples, the speed of the I-beam 2520 is sampled at 1 millimeter intervals.
[0156] [0156] In some examples, the absolute positioning system 1100 (Figures 10 to 12) can be used to detect the position of the I-beam 2514, and the speed of the I-beam 2520 is sampled at intervals defined by the revolution (s) (s) of the sensor element 1126.
[0157] [0157] In some examples, the control circuit 2510 is configured to increase the speed of the I-beam 2514 at a constant, or substantially constant rate, as the I-beam 2514 is advanced through the firing stroke. The rate of increase in I-beam speed 2514 can be selected based on the movement of the I-beam during the first diagnostic portion (1a) of zone 1. In one example, a look-up table can be used to determine the rate of increasing the speed of the I-beam 2514 based on measurements that represent the movement of the I-beam during the first diagnostic portion (1a) of zone 1.
[0158] [0158] As shown in Figure 18, the linear increase in I-beam speed 2514 starts at a starting point 6101 which represents an initial speed (v1) at a predetermined position at the beginning of a second portion (1b) of zone 1 The initial velocity v1 can also be determined based on the movement of I-beam 2514 during the first diagnostic portion (1a) of zone 1. In one example, a look-up table can be used to determine the initial velocity v1 based on in the measurements representing the movement of the I-beam 2514 during the first diagnostic portion (1a) of zone 1. Notably, the initial speed (v1) of example 6108 is significantly lower than the constant speed of example 6110, which produces a reduced force to fire (FTF) in the example
[0159] [0159] The 2510 control circuit can also be configured to determine the initial speed v1 and / or the rate of increase of the 2514 I-beam speed based on the conditions of the fabric. As described above, fabric conditions such as the thickness and / or sturdiness of the fabric present between the anvil 2516 and the staple cartridge 2518 can influence the movement of the I-beam 2514 due to the fact that different types of fabric will offer different resistance levels. For example, thicker or more robust fabric can provide more mechanical strength for the 2520 I-beam. More mechanical strength can make the 2504 engine run more slowly while the initial engine configuration is kept substantially constant. Similarly, thinner or weaker fabric can provide less mechanical resistance to the 2520 I-beam. This can make the motor run faster and travel a greater distance while the initial motor configuration is kept substantially constant.
[0160] [0160] In example 6110 of Figure 18, a trigger control program may include triggering or maintaining I-beam 2514 at a plurality of constant, or substantially constant speeds, in a plurality of distinct or continuous portions or zones within the course trigger to reduce the load or force to fire (FTF) as I-beam 2514 is advanced through the firing stroke. The trip stroke distance is divided into three zones:
[0161] [0161] In some examples, the number of zones and the corresponding speeds can be greater than or less than three depending on the size of the staple cartridge and / or the conditions of the fabric. The positioning of the I-beam travel zones in Figure 18 is just one example. In some examples, different zones can start at different positions along the longitudinal geometric axis of end actuator 2515, for example, based on the positioning of the fabric between the anvil 2516 and the staple cartridge
[0162] [0162] Figure 19A illustrates a logic flow diagram showing an example of a 6111 process from a control program or a logic configuration that can be selected 6038 and executed 6041 by surgical instrument 2500 (for example, control circuit 2510) in 6041 to implement an I-beam course responsive to the conditions of the fabric and / or staple cartridge type. In zone 1, where I-beam 2514 experiences the highest load, I-beam 2514 is activated at a constant, or substantially constant (v1) low speed. Control circuit 2510 controls 6114 motor 2504 to reach a speed (v1) at the starting point 6101 (Figure 18), which represents a predetermined position at the beginning of a second portion (1b) of zone 1. The control circuit 2510 maintains 6116 the speed of I-beam 2514 at speed (v1) for the remainder of zone 1 starting at starting point 6101. In 6115, if I-beam 2514 is in zone 1, control circuit 2510 maintains 6116 at speed of I-beam 2514 at speed (v1). If, however, I-beam 2514 is no longer in zone 1, control circuit 2510 controls 6117 motor 2504 to reach a speed (v2) at starting point 6103 (Figure 18), which represents a predetermined position in the zone 2. Notably, the speed (v1) is significantly lower than the constant speed of example 6106, which reduces the force to fire (FTF) in example 6110 over example 6106.
[0163] [0163] In zone 2, when I-beam 2514 experiences an intermediate load, I-beam 2514 is maintained 6119 at a constant speed, or substantially constant (v2) that is greater than the speed (v1) for the rest of zone 2. If control circuit 2510 determines 6118 that I-beam 2514 is in zone 2, control circuit 2510 maintains 6119 speed of I-beam 2514 at speed (v2). If, however, I-beam 2514 is no longer in zone 2, control circuit 2510 controls 6120 motor 2504 to reach a predetermined speed (v3) at starting point 6105 (Figure 18), which represents a predetermined position on the zone 3. Control circuit 2510 maintains 6121 speed (v3) until I-beam 2514 reaches a 6122 stroke end.
[0164] [0164] As described above, the control circuit 2510 can activate the I-beam 2514 at constant speed, monitoring the position of the I-beam 2514 indicated by the position sensor 2534 and modulating the motor set point 2522 and / or the motor start signal 2524 to maintain a constant speed.
[0165] [0165] Control circuit 2510 can select speed (v1), speed (v2) and / or speed (v3) based on the movement of I-beam 2514 during the first diagnostic portion (1a) of the zone
[0166] [0166] In one example, the control circuit 2510 can select the constant, or substantially constant, speed of a zone of the firing stroke based on the movement of I-beam 2514 in one or more zones of the firing stroke. For example, control circuit 2510 can select the speed of the second zone or intermediate zone based on the movement of I-beam 2514 in a first zone. In addition, the control circuit 2510 can select the speed of a third zone based on the movement of I-beam 2514 in a first zone and / or a second zone.
[0167] [0167] As indicated in the example in Figure 18, control circuit 2510 can be configured to maintain a linear, or substantially linear transition from speed (v1) to the highest speed (v2) in the initial portion of zone 2. The circuit control 2510 can increase the speed of the I-beam 2514 at a constant rate to produce the linear, or substantially linear transition from the speed (v1) to the highest speed (v2). Alternatively, control circuit 2510 can be configured to maintain a non-linear transition from speed (v1) to the highest speed (v2) in the initial portion of zone 2.
[0168] [0168] In addition, the 2510 control circuit can be configured to maintain a linear, or substantially linear transition from speed (v2) to the highest speed (v3) in the initial portion of zone 3. The 2510 control circuit can increase the speed of the I-beam 2514 at a constant rate to produce the linear, or substantially linear transition from the speed (v2) to the highest speed (v3). Alternatively, control circuit 2510 can be configured to maintain a non-linear transition from speed (v2) to the highest speed (v3) in the initial portion of zone 3.
[0169] [0169] As shown in diagram 6230 Figure 20, the firing force (FTF) gradually decreases as I-beam 2514 is advanced during the firing stroke. Thus, the firing force (FTF) applied to I-beam 2514 is generally higher at the start of the firing stroke than in the middle of the firing stroke, and generally higher in the middle of the firing stroke than at the end of the firing stroke. firing course. The operation of the 2504 motor in a reduced or low duty cycle in portions of the firing stroke when the I-beam 2514 experiences higher loads improves the performance of the 2504 motor and the 2512 power source. As described above, the total current ( I) consumed by the 2504 motor during the trip stroke is reduced, which prolongs the life of the 2512 power source (Figure 14). Second, the operation of the 2504 motor in a reduced duty cycle in the portions of the firing stroke with the highest loads protects the 2504 motor so that it does not stop.
[0170] [0170] In some examples, a trip control program can determine a target value for the duty cycle of the 2504 motor based on the position of the I-beam 2514 along the trip course. Figure 20 illustrates a diagram 6200 that plots the duty cycle of the 2504 motor versus the distance traveled along a trip stroke for three trip courses of example 6206, 6208, 6210, which can be implemented by the trip control programs selected in 6038. In diagram 6200, a horizontal geometric axis 6202 represents the displacement of the firing stroke in millimeters. The vertical geometric axis 6204 indicates the duty cycle of the 2504 motor expressed as a percentage. As illustrated in
[0171] [0171] In example 6206 of Figure 20, a trip control program is configured to operate the 2504 motor in a constant, or substantially constant, predetermined duty cycle. The constant duty cycle can be selected based on the movement of the I-beam during the first diagnostic portion (1a) of zone 1. Example 6206 'represents the triggering force (FTF) associated with the operation of the 2504 motor during travel trigger in a constant or substantially constant and predetermined duty cycle.
[0172] [0172] To reduce the load or force to fire (FTF), as illustrated in the force to fire (FTF) profiles of examples 6208 'and 6210', alternative fire control programs are selected in 6038 corresponding to Examples 6208 and 6210 of diagram 6100. As shown in diagram 6230, examples 6208 'and 6210' have lower force to fire profiles (FTF) than example 6206 'and lower maximum force thresholds (F1) and (F2) than maximum force threshold (F3) of example 6206 '.
[0173] [0173] Example 6210 'represents the force to fire (FTF) profile associated with the operation of the 2504 motor in a closed circuit. During the closed circuit portion of the stroke, control circuit 2510 can modulate the duty cycle of motor 2504 based on translation data that describes an I-beam position 2514. During closed circuit, control circuit 2510 is configured to gradually increase the duty cycle of the 2504 motor as the I-beam 2514 is advanced along the firing stroke.
[0174] [0174] The 2510 control circuit can monitor the 2514 I-beam position indicated by the 2534 position sensor. The data from the 2534 position sensor can be used by the 2510 control circuit to define the 2504 motor duty cycle. In some instances, the duty cycle of the 2504 engine is changed by the 2510 control circuit at 1 millimeter intervals. In one example, control circuit 2510 is configured to maintain a substantially linear increase in the duty cycle of motor 2504 as I-beam 2514 is advanced through the firing stroke.
[0175] [0175] In some examples, the absolute positioning system 1100 (Figures 10 to 12) can be used to detect the position of the I-beam 2514, and the duty cycle of the motor 2504 can be defined based on the position of the beam- I 2514 as assessed by the revolution (s) of the sensor element 1126.
[0176] [0176] In some examples, control circuit 2510 is configured to increase the duty cycle of motor 2504 at a substantially constant rate as I-beam 2514 is advanced through the trip stroke. The duty cycle increase rate of the 2504 engine can be selected based on the movement of I-beam 2514 during a diagnostic time (t1) in the first diagnostic portion (1a) of zone 1. In one example, a table of consultation can be employed to determine the rate of increase in the speed of I-beam 2514 based on measurements representing the movement of I-beam 2514 during a diagnostic time (t1) in the first diagnostic portion (1a) of zone 1.
[0177] [0177] In one example, a look-up table can be used to determine the duty cycle of the 2504 engine based on measurements representing the movement of I-beam 2514 during the first diagnostic portion (1a) of zone 1. The Control circuit 2510 can also be configured to determine the duty cycle of the 2504 motor in various positions of the I-beam 2514 along the firing stroke based on fabric conditions. As described above, fabric conditions such as the thickness and / or sturdiness of the fabric present between the anvil 2516 and the staple cartridge 2518 can influence the movement of the I-beam 2514 due to the fact that different types of fabric will offer different resistance levels.
[0178] [0178] An alternative example 6208 'represents the reduced force to fire (FTF) profile associated with the operation of the 2504 engine in a plurality of constant, or substantially constant, duty cycles in a plurality of distinct or continuous portions or zones within the firing course. As described above in relation to Figure 6100, the distance of the firing stroke is divided into three zones: zone 1, zone 2 and zone 3. The load experienced by I-beam 2514 in zone 1 is greater than in zone 2, and the load experienced by I-beam 2514 in zone 2 is greater than in zone 3. To reduce the force to fire (FTF), the 2504 motor is operated in three different duty cycles defined in predetermined positions in points 6201, 6203, and 6205 zone 1, zone 2 and zone 3, respectively, as shown in Figure 20. In some examples, the number of zones and the corresponding duty cycles can be greater than or less than three depending on the size of the staple cartridge and / or the tissue conditions. The positioning of the I-beam travel zones in Figure 20 is just one example. In some examples, different zones may start at different positions along the longitudinal geometric axis of end actuator 2515, for example, based on the positioning of the fabric between the anvil
[0179] [0179] In zone 1, when the I-beam 2514 experiences the highest load, the 2504 motor is operated in a low duty cycle. As indicated in example 6208 of Figure 20, control circuit 2510 is configured to maintain the duty cycle of motor 2504 at about 45%, for example, for the remainder of zone 1 starting at point 6201, which represents a position predetermined at the beginning of a second portion (1b) of zone 1.
[0180] [0180] In zone 2, when I-beam 2514 experiences an intermediate load, the 2504 motor is operated in an intermediate duty cycle greater than the duty cycle maintained in zone 1. At the beginning of zone 2, the control circuit 2510 is configured to increase the duty cycle of motor 2504 to a predetermined duty cycle, which is maintained at a constant, or substantially constant, value by the control circuit 2510 for the remainder of zone 2. As shown in example 6208 in Figure 20 the control circuit 2510 is configured to maintain the duty cycle of the motor 2504 at about 75%, for example, for the remainder of zone 2 starting at point 6203, which represents a predetermined position.
[0181] [0181] In zone 3, when I-beam 2514 experiences a lower load, motor 2504 is operated in a duty cycle greater than the duty cycle maintained in zone 2. At the beginning of zone 3, the control circuit 2510 is configured to increase the duty cycle of engine 2504 to a predetermined duty cycle, which is maintained at a constant, or substantially constant, value by the 2510 control circuit for the remainder of zone 3. As shown in example 6208 in Figure 20 the control circuit 2510 is configured to maintain the duty cycle of motor 2504 at about 100%, for example, for the remainder of zone 3 starting at point 6205, which represents a predetermined position.
[0182] [0182] Control circuit 2510 can select duty cycles for zones 1, 2 and 3 based on the movement of I-beam 2514 during the first diagnostic portion (1a) of zone 1. In some examples, the circuit control 2510 can select the duty cycles for zones 1, 2 and 3 based on the determined I-beam speed and / or the current (i) consumed by the 2504 motor in the open circuit portion in the first diagnostic portion (1a ) of zone 1. In one example, a look-up table can be used to determine the duty cycles for zones 1, 2 and 3 based on measurements representing the movement of I-beam 2514 during the first diagnostic portion ( 1a) of zone 1.
[0183] [0183] Although the trigger control program or logic configuration of example 6208 represents three stages with constant, or substantially constant, duty cycles at 45%, 75% and 100%, other duty cycles are contemplated by the present disclosure. In one example, as illustrated in a 6300 diagram in Figure 21, a trip control program can include the operation of the 2504 motor in a duty cycle of about 33% in a first trip stroke zone, a duty cycle about 66% in a second zone of the firing stroke, and a duty cycle of about 100% in a third zone of the firing stroke. The different duty cycles can be defined to start at different positions of the I-beam along the firing stroke, for example.
[0184] [0184] In one example, the 2510 control circuit can select the constant, or substantially constant, duty cycle of the 2504 motor from a trip stroke zone based on the movement of the 2504 motor cycle in one or more previous zones of the firing course. For example, the 2510 control circuit can select the duty cycle for a second zone or intermediate zone based on the duty cycle for a first zone. In addition, the 2510 control circuit can select the duty cycle for a third zone based on the duty cycle for a first zone and / or a second zone.
[0185] [0185] Diagram 6300 illustrates a plotting of the duty cycle of the 2504 motor versus the distance traveled along a trigger stroke for an example of a trigger stroke 6310, which can be implemented by a trigger control program selected in
[0186] [0186] In one example, the 2504 motor can be operated, in an initial zone of the trip stroke, in a duty cycle selected from a range of about 25% to about 50%. In one example, the 2504 motor can be operated, in an intermediate zone of the trip stroke, in a duty cycle selected from a range of about 50% to about 80%. In one example, the 2504 motor can be operated, in a final zone of the trip stroke, in a duty cycle selected from a range of about 75% to about 100%.
[0187] [0187] In some instances, the 2504 motor may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more 2504 motor stator windings. Figure 21 further illustrates a 6350 diagram representing an example 6360 indicating pulse width modulated signals corresponding to the engine duty cycles of zone 1, zone 2 and zone 3 of example 6310. Diagram 6350 includes two geometric axes. A horizontal geometry axis 6354 represents the travel stroke offset in millimeters. A vertical geometric axis 6352 indicates the pulse width modulation signals.
[0188] [0188] A trip control program of example 6310 can vary the pulse width of the signal supplied to the motor 2504 depending on the position of the I-beam 2514 along the trip course. A first pulse width can be maintained in zone 1. A second pulse width greater than the first pulse width can be kept in zone
[0189] [0189] In several examples, zones 1, 2 and 3 described above of the firing stroke may have equal or substantially equal distances. In other words, each of the three zones can be about one third of the total distance traveled by I-beam 2514 during a firing stroke. In other examples, the distance of the firing stroke can be divided into more or less than three zones that are of equal or different distances.
[0190] [0190] Referring to Figure 22, a 6400 diagram plots an example 6408 of the force applied during a closing stroke to close the end actuator 2502 in relation to the tissue clamped between the anvil 2516 and the staple cartridge 2518, the force of closure being plotted as a function of time. Diagram 6400 comprises two geometric axes. A vertical axis 6402 indicates the force to close (FTC) the end actuator 2502 in newtons (N). A 6404 horizontal geometric axis indicates time in seconds. During the closing stroke, the closing tube 260 is moved distally (direction "DD") to move the anvil 2516, for example, in relation to the staple cartridge 2518 in response to the action of the closing trigger 32 (Figure 1) on as described in the aforementioned reference in US Patent Application Publication No. 2014/0263541. In other cases, the closing stroke involves moving a staple cartridge relative to an anvil in response to the actuation of the closing trigger 32. In other cases, the closing stroke involves moving the staple cartridge and the anvil in response to closing trigger actuation 32.
[0191] [0191] Example 6408 indicates that the force to close (FTC) the end actuator 2502 increases during a period of initial tightening time ending in a time (t0). The force to close (FTC) reaches a maximum force (F3) in time (t0). The initial tightening time period can be about one second, for example. A waiting period can be applied before starting a trip course. The waiting period allows fluid to escape from the compressed tissue through the end actuator 2502, which reduces the thickness of the compressed tissue producing a smaller gap between the anvil 2516 and the staple cartridge 2518 and a reduced closing force (F1) at the end of the waiting period. In some examples, a waiting period selected from a range of about 10 seconds to about 20 seconds is typically employed. In example 6408, a time period of about 15 seconds is employed. The waiting period is followed by the trigger stroke, which typically lasts for a selected period of time from a range of about 3 seconds, for example, to about 5 seconds, for example. The closing force (FTC) decreases as the 2514 I-beam is advanced in relation to the end actuator through the firing stroke.
[0192] [0192] Figure 22 also shows a 6450 diagram that plots three examples 6456, 6458, 6460 of the force applied to advance the I-beam
[0193] [0193] I-beam 2514 is advanced from the start position 2527 (Figure 13) in an initial time (t = 0) to the end position 2528 (Figure 13). As I-beam 2514 is advanced through the firing stroke, the closing assembly provides control of the staple cartridge 2518 and anvil 2516 to the firing assembly, which causes the force to fire (FTF) to increase and the force to close (FTC) decreases.
[0194] [0194] In an alternative example 6406, a harder 6410 anvil (Figure 23) is employed. The hardness of the anvil 6410 of example 6406 is greater than the hardness of the anvil of example 6408. The harder anvil 6410 produces greater maximum closing forces (F4) in time (t0) and (F2) at the end of the waiting period than the maximum closing forces (F3) and (F1) associated with the anvil of example 6408. Due to the greater hardness, the ability of the anvil 6410 of example 6406 to deflect or flex in the direction opposite to the compressed tissue is less than that of the anvil of the example 6408. Consequently, the anvil 6410 of example 6406 experiences a greater load than the anvil of example 6408 along the closing stroke.
[0195] [0195] Examples 6456 and 6458 of diagram 6450 are force to fire (FTF) corresponding to examples 6406 and 6408, respectively, of diagram 6400. The harder anvil 6410 of examples 6406 and 5458, when it finds a force profile to close (FTC) greater than the anvil of examples 6408 and 6456, experiences a lower force-to-fire (FTF) profile. In examples 6456 and 6458, the force to fire (FTF) profile is reduced by about 20% due to the greater hardness of the 6410 anvil. Various techniques can be employed to increase the hardness of an anvil, as described in patent application n US Serial No. 15/385 .922, entitled
[0196] [0196] The harder anvil 6410 has an elongated anvil body 6412 that has an upper body portion 6414 that has an anvil cover 6416 attached to it. In the aspect shown in Figure 22, the anvil cover 6416 is approximately rectangular in shape and has an outer perimeter of the cover 6418. The perimeter 6418 of the anvil cover 6416 is configured to be inserted through the correspondingly shaped opening formed in the upper body portion. and received in internal protruding portions extending axially from the anvil body 6412. The anvil body 6412 and the anvil cover 6416 can be manufactured from suitable metal that is conducive to welding. A first weld 6420 may extend around the entire perimeter of lid 6418 of anvil cover 6416 or it may be located only along the long sides 6422 of anvil cover 6416 and not its distal end 6424 and / or proximal end
[0197] [0197] The efficient force to fire (FTF) profile of example 6458 can be further improved, as indicated in example 6460, using a firing control program, which can be selected in 6038 (Figure 17), in combination with the harder anvil 6410. Any of the trigger control programs associated with the one previously described in examples 6108, 6110,
[0198] [0198] The functions or processes 6030, 6111, 6131 described herein can be performed by any of the processing circuits described here, such as the control circuit 700 described in relation to Figures 5 to 6, the circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described in relation to Figures 10 and 12, and / or the control circuit 2510 described in Figure 14.
[0199] [0199] Various aspects of the subject described in this document are defined in the following numbered examples:
[0200] [0200] Example 1. A surgical instrument comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and controlling the speed of the motor to translate the displacement member into a plurality of speeds corresponding to the position output, each of the plurality of speeds being maintained in a predetermined zone.
[0201] [0201] Example 2. The surgical instrument, according to Example 1, the control circuit being configured to maintain the translation of the displacement member at a first speed in a first zone and a second speed in a second zone, and the second zone being distal to the first zone.
[0202] [0202] Example 3. The surgical instrument, according to Example 2, the second speed being greater than the first speed.
[0203] [0203] Example 4. The surgical instrument, according to Example 3, the control circuit being configured to maintain the translation of the displacement member at a third speed in a third zone, and the third zone is distal to the second zone.
[0204] [0204] Example 5. The surgical instrument, according to Example 4, the third speed being greater than the second speed.
[0205] [0205] Example 6. The surgical instrument, according to Example 2 to Example 5, which additionally comprises a timer circuit coupled to the control circuit, the timer circuit being configured to measure the time elapsed during the translation of the limb. displacement to a predetermined starting position.
[0206] [0206] Example 7. The surgical instrument, according to Example 6, the control circuit being configured to determine the first speed based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[0207] [0207] Example 8. The surgical instrument of Examples 1 to 7, which further comprises an end actuator comprising a staple cartridge which houses a plurality of staples, and the translation of the displacement member from the proximal position to the distal position causes the staples to be implanted from the staple cartridge.
[0208] [0208] Example 9. The surgical instrument, according to Example 1 to Example 8, the control circuit is configured to determine the first speed based on the force or current experienced by the motor.
[0209] [0209] Example 10. A surgical instrument comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and driving the motor to move the displacement member at a speed of the displacement member corresponding to the position of the displacement member.
[0210] [0210] Example 11. The surgical instrument, according to Example 10, the control circuit being configured to increase the speed of the displacement member at a linear rate from an initial speed.
[0211] [0211] Example 12. The surgical instrument, according to
[0212] [0212] Example 13. The surgical instrument, according to Example 12, the control circuit being configured to determine the initial speed based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[0213] [0213] Example 14. The surgical instrument, according to Example 10 to Example 13, further comprising an end actuator comprising a staple cartridge that accommodates a plurality of staples, and the translation of the displacement member to from the proximal to the distal position, the staples are implanted from the staple cartridge.
[0214] [0214] Example 15. The surgical instrument, according to Example 10 to Example 14, the control circuit is configured to determine the first speed based on the force or current experienced by the motor.
[0215] [0215] Example 16. A surgical instrument comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the control circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member along the distance between the proximal position and the distal position; and driving the motor in a plurality of working cycles corresponding to the position output, each of which among the plurality of working cycles is maintained in a predetermined zone between the proximal position and the distal position.
[0216] [0216] Example 17. The surgical instrument, according to claim 16, the control circuit being configured to start the engine in a first duty cycle in a first zone and a second duty cycle in a second zone, and the second zone being distal to the first zone.
[0217] [0217] Example 18. The surgical instrument, according to Example 17, the second duty cycle being greater than the first duty cycle.
[0218] [0218] Example 19. The surgical instrument, according to Example 18, the control circuit being configured to start the engine in a third duty cycle in a third zone, and the third zone is distal to the second zone.
[0219] [0219] Example 20. The surgical instrument, according to Example 19, the third duty cycle being greater than the second duty cycle.
[0220] [0220] Example 21. The surgical instrument, according to Example 17 to Example 20, which additionally comprises a timer circuit coupled to the control circuit, the timer circuit being configured to measure the time elapsed during the translation of the limb. displacement to a predetermined starting position.
[0221] [0221] Example 22. Surgical instrument, according to Example 21, the control circuit being configured to determine the first duty cycle based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[0222] [0222] Example 23. The surgical instrument, according to Example 16 to Example 22, the control circuit is configured to determine the first speed based on the force or current experienced by the motor.

权利要求:
Claims (23)
[1]
1. Surgical instrument characterized by comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and controlling the speed of the motor to translate the displacement member into a plurality of speeds corresponding to the position output, each of the plurality of speeds being maintained in a predetermined zone.
[2]
2. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to maintain the translation of the displacement member at a first speed in a first zone and a second speed in a second zone, and the second zone is distal to the first zone.
[3]
Surgical instrument according to claim 2, characterized in that said second speed is greater than the first speed.
[4]
4. Surgical instrument, according to claim 3, characterized in that the control circuit is configured to maintain the translation of the displacement member at a third speed in a third zone, and the third zone is distal to the second zone.
[5]
5. Surgical instrument according to claim 4, characterized in that the third speed is greater than the second speed.
[6]
6. Surgical instrument, according to claim 2,
characterized by additionally comprising a timer circuit coupled to the control circuit, the timer circuit being configured to measure the time elapsed during the translation of the displacement member to a predetermined initial position.
[7]
7. Surgical instrument according to claim 6, characterized in that the control circuit is configured to determine the first speed based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[8]
8. Surgical instrument according to claim 1, characterized in that it additionally comprises an end actuator comprising a staple cartridge housing a plurality of staples, and the translation of the displacement member from the proximal to the distal position causes staples to be implanted from the staple cartridge.
[9]
9. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to determine the first speed based on the force or current experienced by the motor.
[10]
10. Surgical instrument characterized by comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member; a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member; and driving the motor to move the displacement member at a speed of the displacement member corresponding to the position of the displacement member.
[11]
11. Surgical instrument according to claim 10, characterized in that the control circuit is configured to increase the speed of the displacement member at a linear rate from an initial speed.
[12]
Surgical instrument, according to claim 11, characterized in that it additionally comprises a timer circuit coupled to the control circuit, the timer circuit being configured to measure the time elapsed during the translation of the displacement member to a predetermined initial position.
[13]
Surgical instrument according to claim 12, characterized in that the control circuit is configured to determine the initial speed based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[14]
Surgical instrument according to claim 10, characterized in that it additionally comprises an end actuator comprising a staple cartridge that houses a plurality of staples, and the translation of the displacement member from the proximal position to the position distal causes the staples to be implanted from the staple cartridge.
[15]
15. Surgical instrument, according to claim 10, characterized in that the control circuit is configured to determine the first speed based on the force or current experienced by the motor.
[16]
16. Surgical instrument characterized by comprising: a displacement member; a motor coupled to the displacement member, the motor being operable to transfer the displacement member;
a control circuit coupled to the engine; and a position sensor coupled to the control circuit; the circuit being configured to: receive a position output from the position sensor indicative of at least one position of the displacement member along the distance between the proximal position and the distal position; and driving the motor in a plurality of work cycles corresponding to the position exit, each one of the plurality of work cycles being maintained in a predetermined zone between the proximal position and the distal position.
[17]
17. Surgical instrument, according to claim 16, characterized in that the control circuit is configured to start the engine in a first duty cycle in a first zone and a second duty cycle in a second zone, the second being zone is in a distal position in relation to the first zone.
[18]
18. Surgical instrument, according to claim 17, characterized in that the second duty cycle is greater than the first duty cycle.
[19]
19. Surgical instrument, according to claim 18, characterized in that the control circuit is configured to start the engine in a third duty cycle in a third zone, and the third zone is in a distal position in relation to the second zone .
[20]
20. Surgical instrument, according to claim 19, characterized in that the third duty cycle is greater than the second duty cycle.
[21]
21. Surgical instrument according to claim 17, characterized in that it additionally comprises a timer circuit coupled to the control circuit, the timer circuit being configured to measure the time elapsed during the translation of the displacement member to a predetermined initial position.
[22]
22. Surgical instrument according to claim 21, characterized in that the control circuit is configured to determine the first duty cycle based on the time elapsed during the translation of the displacement member to the predetermined initial position.
[23]
23. Surgical instrument according to claim 16, characterized in that the control circuit is configured to determine the first speed based on the force or current experienced by the motor.

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同族专利:

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公开号 | 公开日

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EP3417809A1|2018-12-26|

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US20180360449A1|2018-12-20|

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JP2020524046A|2020-08-13|

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EP3417809B1|2020-10-14|

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US10888321B2|2021-01-12|

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EP3777714A1|2021-02-17|

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WO2018234893A1|2018-12-27|

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CN110785132A|2020-02-11|

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FR999646A|1949-11-16|1952-02-04|Cable clamp device|

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---

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---

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JPS4711908Y1|1968-01-18|1972-05-02|

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FR2084475A5|1970-03-16|1971-12-17|Brumlik George|

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JPS5033988U|1973-07-21|1975-04-11|

---

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JPS552966Y2|1974-02-08|1980-01-24|

---

JPS543B2|1974-02-28|1979-01-05|

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FR2446509B1|1977-04-29|1981-07-03|Garret Roger|

---

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,158|2017-06-20|

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US15/628,158|US10888321B2|2017-06-20|2017-06-20|Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument|

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PCT/IB2018/053496|WO2018234893A1|2017-06-20|2018-05-17|Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument|

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