closed loop speed control techniques based on tissue parameters detected for robotic surgical instru

专利摘要:
The present invention relates to a robotic surgical system that includes a control circuit. The control circuit detects a condition on an end actuator during a closing phase. The control adjusts the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase. The control circuit trips the travel member at the set command speed and detects a condition on the end actuator during a trip phase. The control circuit adjusts the motor control speed based on the condition detected on the end actuator during the trip phase.
公开号:BR112019027057A2
申请号:R112019027057-4
申请日:2018-06-13
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；Jason L. Harris；Sarah A. Worthington
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present description refers to robotic surgical instruments and, in various circumstances, to robotic stapling and cutting surgical instruments, and staple cartridges for them, which are designed to staple and cut fabrics. BACKGROUND
[002] [002] In a robotic surgical stapling and motorized cutting instrument, it can be useful to measure the position and speed of a cutting member at an initial time or index to control the speed. Measuring position or speed in relation to a predetermined time or initial displacement can be useful for assessing tissue thickness and for adjusting the speed of the remaining stroke based on such a comparison against a limit. SUMMARY
[003] [003] In another aspect, a robotic surgical system is provided. The robotic surgical system comprises a control circuit configured to: detect a condition in an end actuator during a closing phase; define the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger the displacement member at the defined command speed; detect a condition on the end actuator during a trip phase; and defining the motor control speed based on the condition detected in the end actuator during the trip phase.
[004] [004] In another aspect, the robotic surgical system comprises a control circuit coupled to a motor and configured to define a motor control speed during a closing phase or a triggering phase, the motor being configured to activate a displacement member at the control speed, the control circuit being configured to: detect a first condition in the end actuator; detecting a second condition on the end actuator; set the motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the set command speed.
[005] [005] In another aspect, the robotic surgical system comprises a first motor to drive a displacement member coupled to a cutting member; a second motor for driving a closing tube coupled to an anvil portion of an end actuator, the closing tube being configured to close or open the anvil; and a control circuit coupled to the first and second motors, the control circuit being configured to define a control speed of the first motor during a closing phase or a triggering phase and to define a control speed of the second motor for apply a closing force to the closing tube coupled to the anvil, the control circuit being configured to: detect a first condition in the end actuator; detecting a second condition on the end actuator; define the first motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the first defined command speed. FIGURES
[006] [006] 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.
[007] [007] Figure 1 is a perspective view of a robotic controller, in accordance with an aspect of the present description.
[008] [008] Figure 2 is a perspective view of a car / robotic surgical arm manipulator of a robotic surgical system that operationally supports a plurality of surgical tools, in accordance with an aspect of the present description.
[009] [009] Figure 3 is a side view of the car / robotic surgical arm manipulator shown in Figure 2, according to an aspect of the present description.
[0010] [0010] Figure 4 is a perspective view of a surgical instrument, according to an aspect of the present description.
[0011] [0011] Figure 5 is an exploded view of an adapter and the arrangement of the instrument holder for fixing various surgical instruments, in accordance with an aspect of the present description.
[0012] [0012] Figure 6 illustrates a bottom perspective view of the appearance of the surgical instrument of Figure 4, according to an aspect of the present description.
[0013] [0013] Figure 7 is a partial exploded view of a portion of an articulated surgical end actuator, in accordance with an aspect of the present description.
[0014] [0014] Figure 8 is a rear perspective view of the surgical instrument of Figure 105 with the instrument mounting compartment removed, in accordance with an aspect of the present description.
[0015] [0015] Figure 9 is a front perspective view of the surgical instrument of Figure 6 with the instrument mounting compartment removed, in accordance with an aspect of the present description.
[0016] [0016] Figure 10 is a partial exploded perspective view of the surgical instrument of Figure 6, according to an aspect of the present description.
[0017] [0017] Figure 11A is a side view in partial cross section of the surgical instrument of Figure 6, according to an aspect of the present description.
[0018] [0018] Figure 11B is an enlarged cross-sectional view of a portion of the surgical instrument represented in Figure 11A, according to an aspect of the present description.
[0019] [0019] Figure 12 illustrates an aspect of an end actuator comprising a first sensor and a second sensor, in accordance with an aspect of the present description.
[0020] [0020] Figure 13A illustrates an aspect in which the tissue compensator is removably attached to the anvil portion of the end actuator, in accordance with an aspect of the present description.
[0021] [0021] Figure 13B illustrates a detailed view of a portion of the tissue compensator shown in Figure 13A, in accordance with an aspect of the present description.
[0022] [0022] Figure 13C illustrates several examples of aspects that use the layer of conductive elements, as well as conductive elements in the staple cartridge, to detect the distance between the anvil and the upper surface of the staple cartridge, according to an aspect of this description.
[0023] [0023] Figure 14A illustrates an end actuator comprising integrated conductors, in accordance with an aspect of the present description.
[0024] [0024] Figure 14B illustrates an end actuator comprising integrated conductors, in accordance with an aspect of the present description.
[0025] [0025] Figure 15A illustrates a sectional view of the staple cartridge, in accordance with an aspect of the present description.
[0026] [0026] Figure 15B illustrates a sectional view of the staple cartridge shown in Figure 15A illustrating conductors integrated into the end actuator, in accordance with an aspect of the present description.
[0027] [0027] Figure 16 illustrates an aspect of a right-to-left segmented flexible circuit of an end actuator, in accordance with an aspect of the present description.
[0028] [0028] Figure 17 illustrates an aspect of a segmented flexible circuit configured to be fixedly attached to a claw member of an end actuator, in accordance with an aspect of the present description.
[0029] [0029] Figure 18 illustrates an aspect of a segmented flexible circuit configured to be mounted on a claw member of an end actuator, in accordance with an aspect of the present description.
[0030] [0030] Figure 19 illustrates an aspect of an end actuator configured to measure a GT fabric span, according to an aspect of the present description.
[0031] [0031] Figure 20 illustrates an aspect of an end actuator comprising a segmented flexible circuit, in accordance with an aspect of the present description.
[0032] [0032] Figure 21 illustrates the end actuator shown in
[0033] [0033] Figure 22 illustrates a logical diagram of an aspect of a feedback system, according to an aspect of the present description.
[0034] [0034] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0035] [0035] Figure 24 illustrates a combinational logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0036] [0036] Figure 25 illustrates a sequential logic circuit configured to control aspects of the robotic surgical system, according to an aspect of the present description.
[0037] [0037] Figure 26 illustrates a logic diagram of a common control module for use with a plurality of motors of the robotic surgical instrument, according to an aspect of the present description.
[0038] [0038] Figure 27 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, the absolute positioning system comprising a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of this description.
[0039] [0039] Figure 28 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, in accordance with an aspect of the present description.
[0040] [0040] Figure 29 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present description .
[0041] [0041] Figure 30 is a schematic diagram of a robotic surgical instrument configured to operate a surgical instrument described herein, in accordance with an aspect of the present description.
[0042] [0042] Figure 31 is a graph illustrating techniques to control the speed of advance or retraction of a displacement member of a robotic surgical instrument, according to an aspect of the present description.
[0043] [0043] Figure 32 is a graphical representation of a closed loop speed control process, in accordance with an aspect of the present description.
[0044] [0044] Figure 33 is a logic flow diagram representing a process of a control program or a logical configuration to determine the tissue conditions in an end actuator and, consequently, adjust the command speed according to an aspect of this description. DESCRIPTION
[0045] [0045] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated by reference in their respective totalities:
[0046] [0046] Power of attorney document number END8294USNP / 17 0198, entitled CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 29, 2017.
[0047] [0047] Power of Attorney Document No. END8289USNP / 17 0199, entitled ROBOTIC SURGICAL INSTRUMENT WITH CLOSED
[0048] [0048] Power of attorney document number END8295USNP / 17 0200, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, by the inventors Frederick ES. Shelton, IV et al., Filed on June 29, 2017.
[0049] [0049] Power of attorney document number END8293USNP / 170196M, entitled CLOSED LOOP VELOCITY
[0050] [0050] Figure 1 represents an aspect of a master robotic controller 11 that can be used in connection with a robotic arm servo 100 of the type shown in Figure 2. The master controller 11 and robotic arm servo 100, as well as their respective components and control systems, are collectively referred to in the present invention as robotic surgical system 10. Examples of such systems and devices are disclosed in US Patent No. 7,524,320, which is incorporated herein by reference. Master controller 11, in general, includes master controllers (generically represented as 13 in Figure 1) that are held by the surgeon and manipulated in space while the surgeon views the procedure through a stereoscopic screen 12. Master controllers 11, of In general, they comprise manual insertion devices that, preferably, move with multiple degrees of freedom and often have an actionable handle to act the tools (for example, to close the grip saws, apply an electrical potential to an electrode, or similar). Other provisions can provide the surgeon with a feedback meter 15 that can be viewed through screen 12 and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic gripping member. Additional examples are disclosed in US patent no.
[0051] [0051] As can be seen in Figure 2, in one form, the robotic arm carriage 100 is configured to operate a plurality of surgical tools, generically designated as 200. Various systems and methods of robotic surgery that employ the provisions of master controller and a robotic arm car are disclosed in US Patent No. 6,132,368, entitled "Multi-Component Telepresence System and Method", the complete description of which is incorporated herein by reference. In various forms, the surgical arm carriage 100 includes a base 102 from which, in the illustrated aspect, three surgical tools 200 are supported. In various forms, surgical tools 200 are each supported by a series of manually articulated connections, generically called configuration joints 104, and a robotic manipulator 106.
[0052] [0052] Now with reference to Figure 3, in at least one form, robotic manipulators 106 may include a connection 108 that restricts the movement of the surgical instrument 200. In various aspects, connection 108 includes rigid connections coupled together by joints rotating in a parallelogram arrangement so that the surgical instrument 200 rotates around a point in space 110, as described in more detail in US Patent No. 5,817,084, the full description of which is incorporated herein by reference. The parallelogram arrangement restricts rotation to pivot around a geometric axis 112a, sometimes called a pitch geometric axis. The connections that support the parallelogram connection are pivotally mounted to configure joints
[0053] [0053] Figure 4 is a perspective view of a surgical instrument 200 that is adapted for use with a robotic surgical system 10 that has an instrument drive assembly that is operationally coupled to a master controller 11 that is operable through inputs operator (ie, a surgeon). As can be seen in this Figure, surgical instrument 200 includes a surgical end actuator 1012 comprising an end cutter. In at least one form, the surgical instrument 200 generally includes an elongated drive shaft assembly 1008 that has a proximal closing tube 1040 and a distal closing tube 1042 that are coupled by a hinge joint 1011. The surgical instrument 200 is operationally coupled to the manipulator by an instrument mounting portion, generically designated as 300. The surgical instrument 200 additionally includes an interface 230 that mechanically and electrically couples the instrument mounting portion 300 to the manipulator. In several respects, the instrument mounting portion 300 includes an instrument mounting plate 302 that operationally supports a plurality of (four are shown in Figure 6) rotating structural portions, disks or driven elements 304, each of which includes a pair of pins 306 extending from a surface of the driven element
[0054] [0054] Figure 5 is an exploded view of an adapter and the arrangement of the instrument holder for fixing various surgical instruments, according to an aspect of the present description. A removable locking arrangement 239 can be used to releasably secure adapter 240 to the instrument holder
[0055] [0055] As shown in Figures 4 to 6, the adapter portion 240 generally includes an instrument side 244 and a support side 246. In various forms, a plurality of rotating bodies 250 are mounted on a floating plate 248 which has a limited range of movement relative to the adapter structure surrounding normal to the main surfaces of the adapter 240. Axial movement of the floating plate 248 helps to disengage the rotating bodies 250 from the instrument mounting portion 300 when the levers 303 along the sides of the compartment of the instrument mounting portion 301 are actuated.
[0056] [0056] Figure 6 is a partial bottom perspective view of the appearance of the surgical instrument in Figure 4. As shown in Figures 6 to 10, the surgical end actuator 1012 is attached to the mounting portion of the instrument 300 by a set of elongated drive shaft 1008 according to various aspects. As shown in the illustrated aspect, the drive shaft assembly 1008 includes an articulated joint generically indicated as 1011 that allows the surgical end actuator 1012 to be selectively articulated around a geometric axis of articulation AA-AA that is substantially transversal to a longitudinal geometric axis LT-LT. See Figure 7. In other respects, the articulated joint is omitted. In several respects, the drive shaft assembly 1008 may include a closing tube assembly 1009 comprising a proximal closing tube 1040 and a distal closing tube 1042 that are pivotally connected by pivot connections 1044 and operationally supported in a central column assembly generally represented as 1049. In the illustrated aspect, the central column assembly 1049 comprises a distal central column portion 1050 that is attached to the elongated channel 1022 and is pivotally coupled to the proximal central column portion 1052. The closing tube assembly 1009 is configured to slide axially on central column assembly 1049 in response to actuation movements applied to it. The distal closure tube 1042 includes an opening 1045 into which the flap 1027 on the anvil 1024 is inserted to facilitate opening of the anvil 1024, as the distal closure tube 1042 is moved axially in the proximal "DP" direction. The closing tubes 1040, 1042 can be made of electrically conductive material (such as metal) so that they can serve as part of the antenna, as described above. The components of the main drive shaft assembly (for example, the 1048, 1050 drive shafts) can be made of a non-conductive material (such as plastic). Anvil 1024 can be pivoted open and closed at a pivot point 1025 located at the proximal end of elongated channel 1022.
[0057] [0057] In use, it may be desirable to rotate the surgical end actuator 1012 around the longitudinal geometric axis of the LT-LT instrument. In at least one aspect, the instrument mounting portion 300 includes a rotary drive assembly 1069 that is configured to receive a corresponding rotary output movement from the instrument drive assembly 101 of the robotic surgical system 10 and to convert that exit movement rotating in a rotary motion to rotate the elongated drive shaft assembly 1008 (and the surgical end actuator 1012) around the geometric axis of the LT-LT longitudinal instrument. In several respects, for example, the proximal end 1060 of the proximal closing tube 1040 is pivotally supported on the instrument mounting plate 302 of the instrument mounting portion 300 by a front support cradle 309 and a closing slide 1100 which is also movably supported on the instrument mounting plate 302. In at least one form, the rotary drive assembly 1069 includes a pipe gear segment 1062 that is formed over (or attached to) the proximal end 1060 of the pipe proximal locking 1040 for operational engagement by means of a rotating gear assembly 1070 that is operationally supported on the instrument mounting plate 302. As shown in Figure 8, the rotating gear assembly 1070, in at least one aspect, comprises a gear 1072 rotating actuator that is coupled to a first correspondent among the driven disks or elements 304 on the adapter side 307 of the instrument assembly 302 when the instrument mounting portion 300 is coupled to the instrument drive assembly 101. See Figure 6. The 1070 rotary gear assembly additionally comprises a 1074 rotary driven gear that is pivotally supported on the mounting plate of the instrument 302 in engagement engaged with the gear segment of the tube 1062 and the rotating drive gear 1072. The application of a first rotating output movement from the instrument driving set 101 of the robotic surgical system 10 to the driven element corresponding 304 will thus cause rotation of the drive gear of rotation 1072. The rotation of the drive gear of rotation 1072 ultimately results in the rotation of the elongated drive shaft assembly 1008 (and the surgical end actuator 1012) to the around the longitudinal geometric axis of the LT-LT instrument (represented by the arrow "R" in Figure 8). It will be recognized that applying a rotary output movement from the instrument drive assembly 101 in one direction will result in the rotation of the elongated drive shaft assembly 1008 and the surgical end actuator 1012 around the longitudinal geometric axis of the LT instrument. -LT in a first direction and an application of the rotating output movement in an opposite direction will result in the rotation of the elongated drive shaft assembly 1008 and the surgical end actuator 1012 in a second direction that is opposite the first direction.
[0058] [0058] In at least one aspect, the closing of the anvil 1024 in relation to the staple cartridge 1034 is carried out by axially moving the closing tube assembly 1009 in the distal direction "DD" in the central column assembly 1049. As indicated above , in several respects, the proximal end 1060 of the proximal closing tube 1040 is supported by the closing slide 1100 comprising a portion of a closing transmission, generally represented as 1099. In at least one form, the closing slide 1100 is configured to support the closing tube 1009 on the instrument mounting plate 320 so that the proximal closing tube 1040 can rotate with respect to the closing slide 1100 and also travel axially with the closing slide 1100. In particular, the closing slide closure 1100 has a vertical flap 1101 that extends into a radial groove 1063 at the proximal end portion of the proximal closing tube 1040 In addition, as can be seen in Figure 10, closing slide 1100 has a flap portion 1102 that extends through a slot 305 in the instrument mounting plate 302. Flap portion 1102 is configured to retain the slider closing slide 1100 in sliding latch with the instrument mounting plate 302. In several respects, closing slide 1100 has a vertical portion 1104 that has a closing rack gear 1106 formed therein. The closing rack gear 1106 is configured to drive the engagement with a closing gear set 1110. The cutting rack gear 1106 is slidably supported inside a rack compartment 1210 that is attached to the mounting plate of the instrument 302 so that the cutting rack gear 1106 is retained in gear engaged with a cutting gear assembly 1220.
[0059] [0059] In various forms, the closing gear set 1110 includes a closing sprocket 1112 which is coupled to one second among the corresponding disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302. See Figure 6. Thus, the application of a second rotating outward movement from the actuation set of the instrument 101 of the robotic surgical system 10 to the corresponding second driven element 304 will cause the rotation of the closing sprocket 1112 when the mounting portion of the instrument 300 is coupled to the drive assembly of the instrument 101. The closing gear set 1110 additionally includes a closing reduction gear set 1114 which is supported in engagement engaged with the closing sprocket 1112. As can be seen in the Figures 9 and 10, the closing reduction gear assembly 1114 includes a driven gear 1116 that is supported pivotally engaged in engagement with the closing sprocket 1112. The closing reduction gear assembly 1114 additionally includes a first closing drive gear 1118 that is in engagement with a second closing drive gear 1120 that is supported rotatingly on the instrument mounting plate 302 in engagement engaged with the closing rack gear 1106. Thus, the application of a second rotating output movement from the instrument driving set 101 of the robotic surgical system 10 in the second corresponding driven element 11304 will cause the closing sprocket 1112 and the closing transmission 1110 to rotate and then drive the closing slide 1100 and the closing tube assembly 1009 axially.
[0060] [0060] Figure 11A is a partial cross-sectional side view of the surgical instrument 200 of Figure 6 and Figure 11B is an enlarged cross-sectional view of a portion of the surgical instrument represented in Figure 11A, in accordance with an aspect of the present description. Referring to Figures 11A and 11B, the distal end 1202 of the cutting bar 1200 is attached to the cutting instrument 1032. The proximal end 1204 of the cutting bar 1200 is pivotally attached to a cutting rack gear 1206 so that the the cutting bar 1200 is free to rotate with respect to the cutting rack gear 1206. The cutting rack gear 1206 is slidably supported within a rack housing 1210 which is attached to the instrument mounting plate 302 so that the cutting rack gear 1206 is retained in geared engagement with a cutting gear set 1220. More specifically and with reference to Figure 10, in at least one aspect, the cutting gear set 1220 includes a cutting sprocket 1222 which is coupled to a third among the corresponding disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302. See Figure 6. Also, the application of another rotating output movement of the robotic system 10 through the instrument drive assembly 101 to the corresponding third driven element 304 will cause the cutting sprocket 1222 to rotate. The cutting gear set 1220 additionally includes a set cutting gear reduction 1224 which includes a first cutting drive gear 1226 and a second cutting drive gear 1228. The cutting gear reduction set 1224 is pivotally mounted on the instrument mounting plate 302 so that the first cutting drive gear 1226 is in gear engaged with the cutting gear 1222. Similarly, the second cutting drive gear 1228 is in gear engaged with a third cutting drive gear 1230 which is supported in pivoting mode on the instrument mounting plate 302 in engagement engaged with the cutting rack gear
[0061] [0061] In several respects, the surgical instrument 200 employs an articulation system that includes an articulated joint 12011 that allows the surgical end actuator 1012 to be articulated around a geometric axis of articulation AA-AA that is substantially transversal to the axis longitudinal geometric pattern LT-LT. In at least one aspect, the surgical instrument 200 includes the first and second pivot bars 1250a, 1250b which are slidably supported within the corresponding passages provided through the proximal central column portion 1052. In at least one form, the first and the second pivot bar 1250a, 1250b are actuated by a pivot transmission that is operationally supported on the instrument mounting plate 302. Each of the pivot bars 1250a, 1250b has a proximal end that has a projecting guide rod from there extending laterally through a corresponding slot in the proximal end portion of the proximal central column portion and into a corresponding arcuate slot in a hinge nut 1260 comprising a hinge transmission portion. The pivot bar 1250a has a guide rod 1254 extending laterally through a corresponding slot in the proximal end portion of the distal central column portion 1050 and into a corresponding arcuate slot in the pivot nut 1260. In addition, the pivot bar 1250a has a distal end which is pivotally coupled to the distal central column portion 1050 by means of, for example, a pin, and a pivot bar 1250b has a distal end which is pivotally coupled to the portion of distal central column 1050 by means of a pin. In particular, the pivot bar 1250a is laterally displaced in a first lateral direction from the longitudinal axis LT-LT and the pivot bar 1250b is laterally displaced in a second lateral direction from the longitudinal geometric axis LT-LT. Thus, the axial movement of the articulation bars 1250a, 1250b in opposite directions will result in the articulation of the distal central column portion 1050 as well as the surgical end actuator 1012 fixed to it around the geometric axis of articulation AA-AA, as will be discussed in more detail below.
[0062] [0062] The articulation of the surgical end actuator 1012 is controlled by the rotation of the joint nut 1260 around the longitudinal geometric axis of the LT-LT instrument. The hinge nut
[0063] [0063] The aspect of the instrument described above employs an interface arrangement that is particularly suitable for assembling the robotically controllable medical instrument under at least one form of robotic arm arrangement that generates at least four different rotary control movements. Those skilled in the art will recognize that such rotating output movements can be selectively controlled through the programmable control systems used by the robotic controller / system. For example, the instrument arrangement described above may be suitable for use with robotic systems produced by Intuitive Surgical, Inc. of Sunnyvale, California, USA, many of which can be described in detail in various patents incorporated herein by reference. . The innovative and exclusive aspects of various aspects of the present invention serve to use the rotating exit movements provided by the robotic system in order to generate specific control movements that are of sufficient magnitude that allow the end actuators to cut and staple the fabric. Accordingly, the unique provisions and principles of various aspects of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be used effectively in conjunction with other types and forms of robotic systems that provide programmed or other outgoing movements. In addition, as will become additionally evident as the present detailed description proceeds, various aspects of the end actuator of the present invention that require other forms of actuation movements can also be effectively acted upon by using one or more of the generated control movements by the robotic system.
[0064] [0064] Figure 12 illustrates an aspect of an end actuator 3000 comprising a first sensor 3008a and a second sensor 3008b. The first and second sensors 3008a, 3008b are provided on the cartridge platform to determine the location of the tissue using segmented electrodes. Consequently, the first and second sensors 3008a, 3008b enable the detection of the load on the closing tube, the position of the closing tube, the firing member on the rack and the firing member coupled to the beam with i 3005 profile, the portion of the cartridge containing tissue, the load and the position on the pivot rods. The end actuator 3000 comprises a first claw member, or anvil, 3002 pivotally coupled to a second claw member 3004. The second claw member 3004 is configured to receive a staple cartridge inside
[0065] [0065] The end actuator 3000 comprises a second sensor 3008b. The second sensor 3008b is configured to measure one or more parameters of the end actuator 3000. For example, in several respects, the second sensor 3008b may comprise a strain gauge configured to measure the magnitude of the mechanical stress on the anvil 3002 during a condition of fixation. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. In several respects, the first sensor 3008a and / or the second sensor 3008b may comprise, for example, a magnetic sensor such as, for example, a Hall effect sensor, an effort meter, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the 3000 end actuator. The first sensor 3008a and the second sensor 3008b can be arranged in a series configuration and / or a parallel configuration. In a series configuration, the second sensor 3008b can be configured to directly affect the output of the first sensor 3008a. In a parallel configuration, the second sensor 3008b can be configured to indirectly affect the output of the first sensor 3008a.
[0066] [0066] In one aspect, the first sensor 3008a can be configured to measure the gap 3010 between the anvil 3002 and the second claw member 3004. The gap 3010 is representative of the thickness and / or compressibility of a section of fabric clamped between the anvil 3002 and the staple cartridge 3006. The first sensor 3008a may comprise, for example, a Hall effect sensor configured to detect a magnetic field generated by a magnet 3012 coupled to the second claw member 3004 and / or the staple cartridge 3006. Single-site measurement accurately describes the thickness of compressed tissue for a full calibrated tissue bite, but can provide inaccurate results when a partial tissue bite is placed between anvil 3002 and the second claw member 3004. One partial tissue bite, be it a proximal partial bite or a distal partial bite, changes the grip geometry of the anvil 3002.
[0067] [0067] In some respects, the second sensor 3008b can be configured to detect one or more parameters indicative of a type of tissue bite, for example, a complete bite, a proximal partial bite and / or a distal partial bite. In some respects, the thickness measurement of the first sensor 3008a can be provided to an output device of the robotic surgical system 10 coupled to the end actuator
[0068] [0068] In another aspect, the end actuator 3000 can comprise a plurality of second sensors configured to measure an amplitude of the mechanical stress exerted on the anvil 3002 during a gripping procedure. In another aspect, the plurality of sensors allows a robust process to detect tissue thickness to be implemented. By detecting various parameters along the length of anvil 3202, the plurality of sensors allows a surgical instrument, such as the surgical instrument 10, to calculate the thickness of the tissue in the claws, regardless of the bite, for example, a bite partial or complete. In some respects, the plurality of sensors comprises a plurality of effort meters. The plurality of stress meters are configured to measure the mechanical stress at various points on the anvil 3002. The amplitude and / or slope of the mechanical stress at each of the various points on the anvil 3002 can be used to determine the thickness of the fabric disposed between the anvil 3002 and the staple cartridge 3006. The plurality of strain gauges can be configured to optimize the maximum amplitude and / or the angular coefficient differences based on the gripping dynamics in order to determine the thickness, the positioning of the fabric and / or the material properties of the fabric. Time-based monitoring of the plurality of sensors during gripping enables a processor, such as a primary processor, to use query tables and algorithms to recognize tissue characteristics and gripping positions and dynamically adjust the end actuator 3000 and / or the fabric clamped between the anvil 3002 and the staple cartridge 3006.
[0069] [0069] Figure 13A illustrates an aspect of an end actuator 5500 comprising a plurality of conductive elements 5512. End actuator 5500 is similar to end actuator 3000 described above. The end actuator 5500 comprises a first claw member, or anvil, 5502 pivotally coupled to a second claw member 5504. The second claw member 5504 is configured to receive a 5506 staple cartridge inside. Figure 13B illustrates a detailed view of a portion of the tissue compensator shown in Figure 13A. Conductive elements 5512 can comprise any combination of conductive materials in any number of configurations such as, for example, wire coils, a wire mesh or grid, conductive strips, conductive plates, electrical circuits, microprocessors or any combination thereof. The layer containing conductive elements 5512 can be located on the surface of the tissue compensator 5510 facing the anvil 5514. Alternatively or additionally, the layer of conductive elements 5512 can be located on the surface facing the staple cartridge 5516 of the tissue compensator. 5510. Conductive elements 5512 can be used to measure thickness, strength, displacement, compression, tissue impedance and tissue location within the end actuator
[0070] [0070] Figure 13C illustrates several examples of aspects using the layer of conductive elements 5512 and, as well as conductive elements 5524, 5526 and 5528, in the staple cartridge 5506, to detect the distance between the anvil 5502 and the upper surface of the staple cartridge 5506. The distance between the anvil 5502 and the staple cartridge 5506 indicates the amount and / or density of the compressed 5518 tissue between them. That distance can,
[0071] [0071] In the examples of illustrated aspects, the conductive element layer 5512 is located on the surface facing the anvil 5514 of the tissue compensator 5510 and comprises one or more coils of metallic wire 5522 in communication with a control circuit comprising a 5520 microprocessor The 5500 microprocessor can be located on the 5500 end actuator or any component thereof, or it can be located in the instrument 301 mounting compartment or it can comprise any microprocessor or microcontroller previously described. In the examples of illustrated aspects, the staple cartridge 5506 also includes conductive elements, which can be any one of: one or more coils of metal wire 5524, one or more conductive plates 5526, a wire mesh 5528, or any other convenient configuration, or any combination thereof. The conductive elements of the 5506 staple cartridge can be in communication with the same 5520 microprocessor or with some other microprocessor in the robotic surgical instrument. Conductive elements 5512 can be used to measure thickness, strength, displacement, compression, tissue impedance and tissue location within the 5500 end actuator.
[0072] [0072] When the anvil 5502 is in a closed position and is therefore compressing 5518 fabrics against the staple cartridge 5506, the conductive element layer 5512 of the tissue compensator 5510 can be capacitively coupled to the conductors in the staple cartridge 5506. The strength of the capacitive field between the conductive element layer 5512 and the conductive elements of the staple cartridge 5506 can be used to determine the amount of tissue 5518 being compressed. Alternatively, the staple cartridge 5506 may comprise eddy current sensors in communication with a 5520 microprocessor, the eddy current sensors being operable to detect the distance between the anvil 5502 and the upper surface of the staple cartridge 5506 using a eddy currents.
[0073] [0073] It is understood that other configurations of conductive elements are possible and that the aspects of Figure 13C are only by way of example and not of limitation. For example, in some aspects, the layer of conductive elements 5512 may be located on the surface facing the staple cartridge 5516 of the tissue compensator 5510. In addition, in some aspects, the conductive elements 5524, 5526 and / or 5528 may be located on or inside the anvil 5502. Thus, in some respects, the layer of conductive elements 5512 can be capacitively coupled to conductive elements in the anvil 5502 and thus detect the properties of the fabric 5518 captured inside the end actuator.
[0074] [0074] It can also be recognized that a layer of conductive elements 5512 can be arranged both on the surface facing the anvil 5514 and on the surface facing the 5516 cartridge. A system for detecting the quantity, density and / or location of the fabric 5518 pressed by the anvil 5502 against the staple cartridge 5506 may comprise conductors or sensors on the anvil 5502, the staple cartridge 5506, or both. Aspects that include conductors or sensors in both the 5502 anvil and the 5506 staple cartridge can optionally obtain optimized results by enabling a differential analysis of the signals that can be obtained by this configuration.
[0075] [0075] Now with reference to Figure 14A, a sectional view is shown in approach of the end actuator 5600 with the anvil 5602 in a closed position. Figure 14B illustrates a 5600 end actuator comprising built-in 5620 electrical conductors, in accordance with an aspect of the present description. In a closed position, the anvil 5602 can compress tissue 5618 between the tissue compensator 5610 and the staple cartridge 5606. In some cases, only a portion of the 5600 end actuator may be capturing tissue 5618. In areas of the end 5600 surrounding the fabric 5618, in areas of greater compression 5624, the matrix of conductors 5620 will also be compressed, while in areas not compressed 5626, the matrix of conductors 5620 will be more separated. Therefore, conductivity, resistance, capacitance and / or some other electrical property between the 5620 conductor matrix can indicate which areas of the 5600 end actuator contain tissue. The 5620 conductor matrix can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within the 5600 end actuator.
[0076] [0076] With reference to Figures 14A and 14B, the end actuator 5600 comprises a fabric compensator 5610 which further comprises embedded conductors 5620. The end actuator 5600 comprises a first claw member, or anvil, 5602 pivotally coupled to a second claw member 5604. The second claw member 5604 is configured to receive a staple cartridge 5606 in its interior. In some respects, the end actuator 5600 additionally comprises a tissue compensator 5610 positioned removably on the anvil 5602 or the 5606 staple cartridge.
[0077] [0077] A 5620 conductor matrix is embedded within the material comprising the 5610 tissue compensator. The 5620 conductor matrix can be arranged in an opposite configuration, and the opposite elements can be separated by insulating material. Each of the 5620 conductor matrix is coupled to one or more conductive metal wires 5622. Conductive metal wires 5622 enable the 5620 conductor matrix to communicate with a microprocessor or control circuit 961 (Figure 22), 800 (Figure 23 ), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26), 2510 (Figure 30). The matrix of conductors 5620 can span the width of the tissue compensator 5610, so that they are in the path of a cutting member or cutting bar 280. As the cutting bar 280 advances, it will cut, destroy, or otherwise it will disable the 5620 conductors, and thus indicate their position inside the 5600 end actuator. The 5610 conductor matrix can comprise conductive elements, electrical circuits, microprocessors or any combination thereof.
[0078] [0078] Figures 15A and 15B illustrate an aspect of a 5650 end actuator that further comprises 5662 conductors embedded within it. The end actuator 5650 comprises a first claw member, or anvil, 5652 pivotally coupled to a second claw member 5654. The second claw member 5654 is configured to receive a 5656 staple cartridge inside. Figure 15A illustrates a sectional view of the 5656 staple cartridge. The sectional view illustrates 5670 conductors embedded within the end actuator. Each of the 5672 conductors is coupled to a 5672 conductive wire. The 5672 conductive metal wires enable the 5672 conductor array to communicate with a microprocessor. 5672 conductors can comprise conductive elements, electrical circuits, microprocessors or any combination thereof. Figure 15B illustrates a side view in approach of the end actuator 5650 with the anvil 5652 in a closed position. In a closed position, the anvil 5652 can compress the 5658 fabrics against the 5656 staple cartridge. The 5672 conductors incorporated into the 5660 fabric compensator can be operable for applying 5674 electrical current pulses to the 5658 fabric at predetermined frequencies. The same 5672 conductors, or additional conductors, can detect the 5658 tissue response and transmit that response to a microprocessor or microcontroller located on the instrument. The response of the 5658 fabric to the 5674 electrical pulses can be used to determine a property of the 5658 fabric. For example, the galvanic response of the 5658 fabric indicates the moisture content in the 5658 fabric. As another example, measuring the electrical impedance across the fabric 5658 could be used to determine the conductivity of the 5648 tissue, which is an indicator of the tissue type. Other properties that can be determined include, by way of example and not limitation: oxygen content, salinity, density and / or the presence of certain chemicals. By combining data from various sensors, other properties could be determined, such as blood flow, blood type, presence of antibodies, etc. 5662 conductors can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within the 5650 end actuator.
[0079] [0079] Figure 16 illustrates an aspect of a 4600 left-right segmented flexible circuit. The 4600 left-right segmented flexible circuit comprises a plurality of L1-L5 segments on the left side of the 4600 left-right segmented flexible circuit and a plurality of segments R1-R5 on the right side of the 4600 left-right segmented flexible circuit. Each of the segments L1-L5 and R1-R5 comprises temperature sensors and / or force sensors to detect tissue parameters locally within each L1- segment L5 and R1-R5. The 4600 left-right segmented flexible circuit is configured to detect parameters locally within each of segments L1-L5 and R1-R5. The 4600 flexible circuit can be used to measure tissue thickness, force, displacement, compression, tissue impedance and tissue location within an end actuator.
[0080] [0080] Figure 17 illustrates an aspect of a 6430 segmented flexible circuit configured to be fixedly attached to a 6434 jaw member of an end actuator. The segmented flexible circuit 6430 comprises a distal segment 6432a and side segments 6432b, 6432c which include individually addressable sensors to enable the detection of the presence of local tissue. Segments 6432a, 6432b, 6432c are individually addressable to detect tissue and to measure tissue parameters based on individual sensors located within each of segments 6432a, 6432b, 6432c. Segments 6432a, 6432b, 6432c of segmented flexible circuit 6430 are mounted on claw member 6434 and are electrically coupled to a power source, such as an electrical circuit through conductive electrical members 6436. A Hall effect sensor 6438, or any sensor suitable magnet, is located at a distal end of the 6434 jaw member. The Hall 6438 effect sensor operates in conjunction with a magnet to provide a measurement of an aperture defined by the 6434 jaw member that might otherwise be called a tissue gap, as shown in particular in Figure 19. The 6430 segmented flexible circuit can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within an actuator end point.
[0081] [0081] Figure 18 illustrates an aspect of a 6440 segmented flexible circuit configured to be mounted on a 6444 jaw member of an end actuator. The segmented flexible circuit 6580 comprises a distal segment 6442a and side segments 6442b, 6442c that include individually addressable sensors for tissue control. The 6442a, 6442b, 6442c segments are individually addressable for treating tissue and for reading individual sensors located within each of the 6442a, 6442b, 6442c segments. Segments 6442a, 6442b, 6442c of segmented flexible circuit 6440 are mounted on claw member 6444 and are electrically coupled to a power source, via conductive electrical members 6446. A Hall effect sensor 6448, or other suitable magnetic sensor, is provided at a distal end of the claw member 6444. The Hall effect sensor 6448 operates in conjunction with a magnet to provide a measurement of an aperture defined by the claw member 6444 of the end actuator or fabric gap, as shown particularly in the Figure 19. In addition, a plurality of side asymmetric temperature sensors 6450a, 6450b are mounted on or formally integrated into the segmented flexible circuit 6440 to provide feedback on the fabric temperature to the control circuit. The 6440 segmented flexible circuit can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and tissue location within an end actuator.
[0082] [0082] Figure 19 illustrates an aspect of a 6460 end actuator configured to measure a GT fabric span. The 6460 end actuator comprises a 6462 jaw member and a 6444 jaw member. The flexible loop 6440, as described in Figure 18, is mounted on the 6444 jaw member. The flexible loop 6440 comprises a Hall 6448 effect sensor that operates with a 6464 magnet mounted on the 6462 jaw member to measure the GT fabric span. This technique can be used to measure the gap defined between the 6444 jaw member and the jaw member
[0083] [0083] Figure 20 illustrates an aspect of a 6470 end actuator comprising a segmented flexible circuit 6468, as shown in Figure 16. The 6470 end actuator comprises a claw member 6472 and a staple cartridge 6474. The flexible circuit segmented 6468 is mounted on claw member 6472. Each of the sensors arranged within segments 1 to 5 is configured to detect the presence of tissue positioned between claw member 6472 and staple cartridge 6474 and represents tissue zones 1 a 5. In the configuration shown in Figure 20, the 6470 end actuator is shown in an open position ready to receive or secure the fabric between the 6472 jaw member and the 6474 staple cartridge. The 6468 segmented flexible circuit can be used to measure tissue thickness, force, displacement, compression, tissue impedance and tissue location within the 6470 end actuator.
[0084] [0084] Figure 21 illustrates end actuator 6470, shown in Figure 20, with claw member 6472 securing fabric 6476 between claw member 6472, for example, the anvil and the staple cartridge. As shown in Figure 21, the 6476 fabric is positioned between segments 1 to 3 and represents the tissue zones 1 to 3. Consequently, the 6476 fabric is detected by the sensors in segments 1 to 3 and the absence of (empty) tissue is detected in section 6478 by segments 4 and 5. Information regarding the presence and absence of 6476 tissue positioned within certain segments 1 to 3 and 4 and 5, respectively, is communicated to a control circuit, as described here, through example, of interface circuits. The control circuit is configured to detect the tissue located in segments 1 to 3. It will be recognized that segments 1 to 5 can contain any suitable magnetic sensors of temperature, force / pressure and / or Hall effect to measure the parameters of tissue located in certain segments 1 to 5 and electrodes to supply energy to the tissue located in certain segments 1 to 5. The 6468 segmented flexible circuit can be used to measure tissue thickness, strength, displacement, compression, tissue impedance and the location of the tissue inside the 6470 end actuator.
[0085] [0085] Figure 22 illustrates a logical diagram of a 970 feedback system of the robotic surgical system 10 of Figure 1, according to one or more aspects of the present description. The 970 system comprises a circuit. The circuit includes a 961 controller comprising a 962 processor and a 968 memory. One or more of the 972, 974, 976 sensors, for example, provide real-time feedback to the 962 processor. A 982 motor, driven by a motor 992, operationally couples a longitudinally movable displacement member to drive the beam cutting element with an i-profile. A 980 tracking system is configured to determine the position of the longitudinally movable displacement member. Position information is provided to the 962 processor, which can be programmed or configured to determine the position of the longitudinally movable drive member, as well as the position of a firing member, firing bar and an I-beam beam cutting element. . Additional motors can be provided at the instrument driver interface to control the firing of the beam with an i-profile, the displacement of the closing tube, the rotation of the drive shaft and the articulation.
[0086] [0086] In one form, an effort meter can be used to measure the force applied to the tissue by the end actuator. A strain gauge can be attached to the end actuator to measure the force applied to the tissue being treated by the end actuator. Referring now to Figure 22, a system 970 for measuring forces applied to the tissue attached by the end actuator comprising a 972 strain gauge sensor, such as a microstrain gauge, is configured to measure one or more parameters of the end actuator, for example. In one aspect, the 972 strain gauge sensor can measure the amplitude or magnitude of the mechanical stress exerted on a claw member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the 962 processor of a 961 microcontroller. A 974 load sensor can measure the force to operate the cutting element, for example, to cut the tissue captured between the anvil and the staple cartridge . A 976 magnetic field sensor can be used to measure the thickness of the captured tissue. The measurement of the 976 magnetic field sensor can also be converted into a digital signal and supplied to the 962 processor.
[0087] [0087] Measurements of tissue compression, tissue thickness and / or force required to close the end actuator on the tissue, as measured by sensors 972, 974, 976, respectively, can be used by microcontroller 961 to characterize the position trigger member and / or the corresponding trigger member speed value. In one case, a 968 memory can store a technique, an equation and / or a look-up table that can be used by the 961 microcontroller in the evaluation.
[0088] [0088] In the aspect illustrated in Figure 22, a sensor 972, such as, for example, a strain gauge or a micro force gauge, is configured to measure one or more parameters of the end actuator 912, such as, for example, the amplitude the mechanical stress exerted on the anvil 914 during a gripping operation, which can be indicative of the closing forces applied to the anvil 914. The measured effort is converted into a digital signal and supplied to the 962 processor. Alternatively, or in addition to the 972 sensor , a 974 sensor, such as a load sensor, can measure the closing force applied by the closing drive system to the anvil 914. The 976 sensor, such as a load sensor, can measure the force of firing applied to a beam with an i-profile in a firing stroke of the robotic surgical system 10 (Figure 1). The i-profile beam is configured to engage a wedge slider, which is configured to move the clamp actuators upward to force the clamps to deform in contact with an anvil. The i-profile beam includes a sharp cutting edge that can be used to separate fabric, as the i-profile beam is advanced distally by the firing bar. Alternatively, a 978 current sensor can be used to measure the current drawn by the motor
[0089] [0089] Figure 23 illustrates a control circuit configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Figure 23 illustrates a control circuit 800 configured to control the robotic surgical system 10, in accordance with an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor may be any one of several single-core or multi-core processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The processor 802 may include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804 of the present description.
[0090] [0090] Figure 24 illustrates a combinational logic circuit 810 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the robotic surgical system 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0091] [0091] Figure 25 illustrates a sequential logic circuit 820 configured to control aspects of the robotic surgical system 10, according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824, 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 robotic surgical system 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.
[0092] [0092] 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.
[0093] [0093] With reference mainly to Figure 26, a robotic surgical system 10 can include a plurality of motors that can be activated to perform various functions. In certain instances, a first engine can be activated to perform a first function; a second engine can be activated to perform a second function; a third engine can be activated to perform a third function, a fourth engine can be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 4400 can be individually activated to cause firing, closing and / or articulation movements on the 1012 end actuator. The firing, closing and / or articulation movements can be transmitted to the actuator. end 1012 through the drive shaft assembly 200, for example.
[0094] [0094] In certain cases, the robotic surgical system 10 may include a trigger motor 4402. The trigger motor 4402 can be operationally coupled to a trigger drive assembly 4404, which can be configured to transmit trigger movements generated by the 4402 motor to the end actuator 1012, and, in particular, to move the beam element with i-profile. In certain cases, the firing movements generated by the 4402 firing motor can cause the staples to be positioned from the staple cartridge in the fabric captured by the end actuator and / or the cutting edge of the beam element with an i-profile for be advanced in order to cut the captured tissue, for example. The beam element with an i-profile can be retracted by reversing the direction of the 4402 motor.
[0095] [0095] In certain cases, the robotic surgical system 10 may include a 4403 closing motor. The 4403 closing motor can be operationally coupled to a 4405 closing drive assembly that can be configured to transmit closing movements generated by the motor 4403 to the end actuator 1012 and, in particular, to move the closing tube 1040, 1042 in order to close the anvil 1024 and compress the fabric between the anvil 1024 and the staple cartridge 1034. Closing movements can cause the end actuator 1012 transitions from an open configuration to an approximate configuration in order to capture the tissue, for example. End actuator 102 can be transitioned to an open position by reversing the motor direction
[0096] [0096] In certain cases, the robotic surgical instrument 10 may include one or more articulation motors 4406a, 4406b, for example. The 4406a, 4406b motors can be operationally coupled to the respective articulation drive assemblies 4408a, 4408b, which can be configured to transmit articulation movements generated by the 4406a, 4406b motors to the end actuator 1012. In certain cases, the articulation movements can cause the end actuator to be articulated in relation to the drive shaft assembly, for example.
[0097] [0097] As described above, the robotic surgical instrument 10 can include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the robotic surgical instrument 10 can be activated individually or separately to perform one or more functions, while the other motors remain inactive. For example, the articulation motors 4406a, 4406b can be activated to cause the end actuator to be articulated, while the trigger motor 4402 remains inactive. Alternatively, the trigger motor 4402 can be activated to trigger the plurality of clamps and / or advance the cutting edge, while the articulation motor 4406 remains inactive. In addition, the 4403 closing motor can be activated simultaneously with the 4402 firing motor to make the closing tube
[0098] [0098] In certain cases, the robotic surgical system 10 can include a common control module 4410 that can be used with a plurality of motors of the robotic surgical instrument 10. In certain cases, the common control module 4410 can accommodate one among plurality of engines at a time. For example, the common control module 4410 can be separately separable from the plurality of motors of the robotic surgical instrument 10 individually. In certain cases, a plurality of motors of the robotic surgical instrument 10 may share one or more common control modules, such as module 4410. In certain cases, the plurality of motors of the robotic surgical instrument 10 may be individually and selectively engaged by the common control
[0099] [0099] In at least one example, the 4410 module can be selectively switched between the operational coupling with the 4406a, 4406b articulation motors and the operational coupling with the 4402 firing motor or the 4403 closing motor. In at least one example , as shown in Figure 26, a key 4414 can be moved or transitioned between a plurality of positions and / or states. In a first position 4416, switch 4414 can electrically couple module 4410 to trip motor 4402; in a second position 4417, the switch 4414 can electrically couple the module 4410 to the closing motor 4403; in a third position 4418a, key 4414 can electrically couple module 4410 to the first articulation motor 4406a; and in a fourth position 4418b, key 4414 can electrically couple module 4410 to the second articulation motor 4406b, for example. In certain cases, separate modules 4410 can be electrically coupled to the trigger motor 4402, the closing motor 4403 and the articulation motors 4406a, 4406b at the same time, as shown, for example, in Figure 30. In certain instances, the key 4414 can be a mechanical key, an electromechanical key, a solid state switch or any suitable switching mechanism.
[00100] [00100] Each of the 4402, 4403, 4406a, 4406b motors can comprise a torque sensor to measure the output torque on the motor drive shaft. The force on an end actuator can be detected in any conventional manner, such as by means of force sensors on the outer sides of the jaws or by a torque sensor on the motor that acts on the jaws.
[00101] [00101] In several cases, as shown in Figure 26, the common control module 4410 may comprise a 4426 motor drive that may comprise one or more H bridge field-effect transistors (FETs) The motor driver 4426 can modulate the energy transmitted from a 4428 power supply to a motor coupled to the 4410 module, based on the input from a 4420 microcontroller ("controller"), for example. In certain instances, the 4420 controller can be used to determine the current drawn by the motor, for example, while the motor is coupled to the 4410 module, as described above.
[00102] [00102] In certain examples, the 4420 controller may include a 4422 microprocessor ("processor") and one or more computer-readable media or 4424 memory units ("memory"). In certain cases, memory 4424 can store various program instructions which, when executed, can cause the 4422 processor to perform a plurality of functions and / or calculations described herein. In certain cases, one or more of the 4424 memory units can be coupled to the 4422 processor, for example.
[00103] [00103] In certain instances, the 4428 power supply can be used to supply power to the 4420 controller, for example. In certain cases, the 4428 power source may comprise a battery (or "battery pack" or "power source"), such as a Li ion battery, for example. In certain cases, the battery pack can be configured to be releasably mounted to the handle 14 in order to supply power to the surgical instrument 4400. Several battery cells connected in series can be used as the 4428 power supply. cases, the 4428 power source can be replaceable and / or rechargeable, for example.
[00104] [00104] In several instances, the 4422 processor can control the 4426 motor starter to control the position, direction of rotation and / or speed of a motor that is coupled to the 4410 module. In certain instances, the 4422 processor can signal to the 4426 motor starter to stop and / or disable a motor that is coupled to the 4410 module. It should be understood that the term processor, as used here, includes any microprocessor, microcontroller or other suitable basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or, at most, some integrated circuits. The processor is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.
[00105] [00105] In one example, the 4422 processor can be any single-core or multi-core processor, such as those known by the Texas Instruments ARM Cortex trade name. In certain cases, the 4420 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that comprises a 256 KB single-cycle flash integrated memory, or other non-volatile memory, up to 40 MHz, a pre- search to optimize performance above 40 MHz, a 32 KB single cycle SRAM, an internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more pulse width modulation modules, one or more analogues of QEI, one or more 12-bit AD converters with 12 analog input channels, among other features that are readily available in the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, the present description should not be limited in this context.
[00106] [00106] In certain instances, memory 4424 may include program instructions for controlling each of the motors of the surgical instrument 4400 that are attachable to module 4410. For example, memory 4424 may include program instructions for controlling trigger motor 4402 , the closing motor 4403 and the articulating motors 4406a, 4406b. Such program instructions can cause the 4422 processor to control the triggering, closing and articulation functions according to the inputs from the robotic surgical system control algorithms or programs 10.
[00107] [00107] In certain cases, one or more mechanisms and / or sensors, such as 4430 sensors, can be used to alert the 4422 processor about the program instructions that need to be used in a specific configuration. For example, 4430 sensors can alert the 4422 processor to use the program instructions associated with triggering, closing, and pivoting the 1012 end actuator. In certain cases, 4430 sensors may comprise position sensors that can be used to detect position key 4414, for example. Consequently, the 4422 processor can use the program instructions associated with the firing of the i-profile beam of the end actuator 1012 by detecting, through sensors 4430, for example, that the switch 4414 is in the first position 4416; the processor 4422 can use the program instructions associated with closing the anvil upon detection through sensors 4430, for example, that switch 4414 is in second position 4417; and the processor 4422 can use the program instructions associated with the articulation of the end actuator 1012 by detecting, through sensors 4430, for example, that the switch 4418a, 4418b is in the third or fourth position 4418a, 4418b.
[00108] [00108] Figure 27 is a diagram of an absolute positioning system 11100 of the robotic surgical instrument 10, the absolute positioning system 11100 comprising a motor controlled drive circuit arrangement comprising a sensor arrangement 11102, in accordance with with an aspect of the present description. The position sensor 11102 for an absolute positioning system 11100 provides a unique position signal corresponding to the location of a displacement member 11111. In one aspect, displacement member 11111 represents the longitudinally movable drive member coupled to the cutting instrument or knife (for example, cutting instrument 1032 of Figure 11A, beam with i-profile 3005 in Figure 12 and / or beam with i-profile 2514 in Figures 29 and 30) comprising the first driven cutting gear 1226 in engagement engaged with the cutting sprocket 1222, the second cutting drive gear 1228 in gear engaged with a third cutting drive gear 1230 which is pivotally supported on the instrument mounting plate 302 in gear engaged with the cutting rack gear 1206. In other respects, the displacement member 11111 represents the firing member coupled to the cutting instrument or knife, which can be adapted and figured to include a rack of drive teeth. In yet another aspect, the displacement member 11111 represents the firing bar or the I-beam beam 3005, 2514 (Figures 12, 30), each of which can be adapted and configured to include a rack of drive teeth . Consequently, as used in the present invention, the term "displacement member" is used generically to refer to any movable member of the robotic surgical instrument 10, such as the driving member, the firing member, the firing bar, the cutting instrument , the knife and / or the beam with an i-profile or any element that can be moved.
[00109] Consequently, the absolute positioning system 11100 can, in effect, track the displacement of the beam with i-shaped profile 3005, 2514 of the cutting instrument (Figures 12, 29 and 30) by tracking the displacement of a longitudinally driving member mobile. In several other respects, displacement member 11111 can be coupled to any suitable sensor for measuring displacement. In this way, the longitudinally movable drive member, the firing member, the firing bar or the I-beam, or combinations thereof, can be coupled to any suitable displacement sensor. Displacement sensors can include contact or non-contact displacement sensors. The displacement sensors can comprise linear variable differential transformers ("LVDT"), linear variable differential reluctance transducers ("DVRT" - differential variable reluctance transducers), a slide pot, a magnetic detection system that comprises a magnetic detection system mobile magnet and a series of linearly movable Hall effect sensors, a magnetic detection system comprising a fixed magnet and a series of linearly movable Hall effect sensors, an optical detection system comprising a source of movable light and a series of photodiodes or photodetectors arranged in a linearly mobile manner, or an optical detection system comprising a fixed light source and a series of photodiodes or photodetectors arranged in a linearly mobile manner, or any combination thereof.
[00110] [00110] An electric motor 11120 may include a rotary drive shaft 11116, which interfaces operationally with a gear set 11114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 11111. A sensor element 11126 can be operationally coupled to a gear assembly 11114 so that a single revolution of the sensor element 11126 corresponds to some linear longitudinal translation of the displacement member 11111. An array of gears and sensors 11118 can be connected to the linear actuator by by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. An 11129 power supply supplies power to the 11100 absolute positioning system and an 11128 output indicator can show the output from the 11100 absolute positioning system. The interface for adapting to the 11120 engine is shown in Figures 4 to 6, 8 to 10, 11A and 11B.
[00111] [00111] A single revolution of the sensor element 11126 associated with the position sensor 11112 is equivalent to a longitudinal displacement d1 of the displacement member 11111, where d1 is the longitudinal distance by which the displacement member 11111 moves from the point "a" to point "b" after a single revolution of the sensor element 11126 coupled to the displacement member 11111. The arrangement of the sensor 11102 can be connected by means of a gear reduction which results in the position sensor 11112 completing one or more revolutions for the full travel of travel member 11111. The position sensor 11112 can complete multiple revolutions for the full travel of travel member 11111.
[00112] [00112] A series of keys 11122a to 11122n, 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 11112 position sensor The status of switches 11122a to 11122n is fed back to a controller 11104 that applies logic to determine a single position signal that corresponds to the longitudinal displacement d1 + d2 +… dn of the drive member 11111. Output 11124 of the position sensor 11112 is supplied to controller 11104. Position sensor 11112 of sensor array 11102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements that emit a unique combination of position signals or values . Controller 11104 may be contained within master controller 11 or may be contained within the housing of the instrument mounting portion 301.
[00113] [00113] The absolute positioning system 11100 provides an absolute position of the displacement member 11111 with the energization of the robotic surgical instrument 10 without retracting or advancing the driving member 11111 to the restart position (zero or initial), as may be the case. case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 11120 motor has traveled to infer the position of a device actuator, actuation bar, knife and the like.
[00114] [00114] The 11104 controller can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, the 11104 controller includes an 11108 processor and an 11106 memory. The 11120 electric motor can be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut system. In one aspect, a 11110 motor starter can be an A3941 available from Allegro Microsystems, Inc. Other motor starters can be readily replaced for use in the 11100 absolute positioning system.
[00115] [00115] The 11104 controller can be programmed to provide precise control of the speed and position of the 11111 displacement members and articulation systems. The 11104 controller can be configured to compute a response in the 11104 controller software. 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 on feedback. 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.
[00116] [00116] The absolute positioning system 11100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback and an adaptive controller. An 11129 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 11118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 11112 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 11100 will have a finite resolution and sampling frequency. The 11100 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.
[00117] [00117] The 11110 motor drive can be an A3941, available from Allegro Microsystems, Inc. The 11110 A3941 drive is an entire bridge controller for use with external power semiconductor metal oxide field (MOSFET) transistors. , N-channel, specifically designed for inductive loads, such as brushed DC motors. The 11110 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,
[00118] [00118] An input command capacitor 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 drive on the top side allows the 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 11100 absolute positioning system.
[00119] [00119] Figure 28 is a diagram of a position sensor 11200 for an absolute positioning system 11100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The 11200 position sensor can be implemented as a single-circuit rotary magnetic position sensor, AS5055EQFT, available from Austria Microsystems, AG. The 11200 position sensor interfaces with the 11104 controller to provide an 11100 absolute positioning system. The 11200 position sensor is a low voltage, low power component and includes four Hall effect elements 11228A, 11228B, 11228C, 11228D in an area 11230 of the position sensor 11200 which is located above a magnet 11202 located on a rotating element associated with a displacement member such as the cutting drive gear 1228, 1230 and / or the closing drive gear 1118, 1120, so that the displacement of a firing member and / or a closing member can be accurately tracked. A 11232 high-resolution ADC and an 11238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 11236 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 a SPI 11234 interface to the 11104 controller. The 11200 position sensor provides 12 or 14 bits of resolution. The 11200 position sensor can be an AS5055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[00120] [00120] The Hall effect elements 11228A, 11228B, 11228C, 11228D are located directly above the rotating magnet 11202. 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 electric conductor transversal to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 11200 position sensor, the Hall effect elements 11228A, 11228B, 11228C, 11228D are capable of producing a voltage signal indicating the absolute positioning of the 11202 magnet in terms of the angle during a single revolution of the 11202 magnet. This angle value , which is a single position signal, is calculated by the CORDIC 11236 processor and stored integrated in the AS5055 11200 position sensor in a register or a memory. The angle value that is indicative of the position of the 11202 magnet during a revolution is provided to the 11104 controller in a variety of techniques, for example, during power-up or upon demand from the 11104 controller.
[00121] [00121] The AS5055 11200 position sensor requires only a few external components to operate when connected to the controller
[00122] [00122] Due to the measurement principle of the AS5055 11200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as the measurement of an angle is completed, the AS5055 position sensor 11200 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. Angle variation can be reduced by averaging multiple angle samples in the controller
[00123] [00123] Figure 29 is a cross-sectional view of an end actuator 2502 of the robotic surgical instrument 10 showing a firing stroke of the beam with i-profile 2514 in relation to the fabric 2526 trapped inside the end actuator 2502, from according to one aspect of the present description. The end actuator 2502 is configured to operate with the surgical instrument 10. The end actuator 2502 comprises an anvil 2516 and an elongated groove 2503 with a clip cartridge 2518 positioned in the elongated groove 2503. A firing bar 2520 is translatable distally and proximally along a longitudinal geometry axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the drive shaft of the instrument. An i-profile beam 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00124] [00124] An exemplary firing stroke of the beam with i-profile 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The exemplifying fabric 2526 is also shown aligned with end actuator 2502. The stroke of the firing member may comprise a start position 2527 and an end position 2528. During a firing stroke of the i-profile beam 2514, the i-profile beam 2514 can be advanced distally from the start position 2527 to the end position 2528. The beam with i 2514 profile is shown in an example location of a start position 2527. Graph 2529 of the travel of the beam member of the i 25 profile illustrates five regions of firing member travel 2517, 2519, 2521, 2523 and 2525. In a first region of firing course 2517, the beam with i-profile 2514 can begin to advance distally. In the first region of the firing stroke 2517, the beam with i-profile 2514 can come in contact with the wedge slider 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. After the static friction is overcome, the force to drive the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[00125] [00125] In the second travel region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric
[00126] [00126] As discussed above and with reference now to Figures 27 to 29, the electric motor 11122 positioned on the master controller 13 of the surgical instrument 10 can be used to advance and / or retract the triggering system of the drive shaft assembly, including the i-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the captured tissue inside the end actuator 2502. The i-profile beam 2514 can be advanced or retracted at a desired speed, or within a desired speed range. Controller 1104 can be configured to control the speed of the beam with i 2514 profile. Controller 11104 can be configured to predict the speed of the beam with i 2514 profile based on various parameters of the energy supplied to the electric motor 11122, such as voltage and / or current, for example, and / or other operating parameters of the 11122 electric motor or external influences. The 11104 controller can be configured to predict the current speed of the beam with an i 2514 profile based on the previous values of the current and / or voltage supplied to the electric motor 11122 and / or the previous states of the system, such as speed, acceleration and / or position. Controller 11104 can be configured to detect the speed of the beam with i 2514 profile using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the i 2514 profiled beam and the detected speed of the i 2514 profiled beam to determine whether the power of the 11122 electric motor needs to be increased in order to increase the speed of the profiled beam in i 2514 and / or decreased in order to decrease the speed of the beam with i 2514 profile.
[00127] [00127] The force acting on the beam with i 2514 profile can be determined using several techniques. The strength of the i-beam beam 2514 can be determined by measuring the motor current 2504, the motor current 2504 being based on the load experienced by the i-beam beam 2514 as it advances distally. The strength of the beam with i 2514 profile can be determined by placing a tension meter on the drive member, the firing member, the beam with i 2514 profile, the firing bar and / or at a proximal end of the cutting edge 2509. The strength of the i-beam beam 2514 can be determined by monitoring the actual position of the i-beam beam 2514 which moves at an expected speed based on the set chain speed of the motor 11122 after a predetermined elapsed period T1 and by comparing the actual position of the beam with i 2514 profile in relation to the expected position of the beam with i 2514 profile based on the set current speed of motor 11122 at the end of period T1. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force.
[00128] [00128] Figure 30 is a schematic diagram of a 2500 robotic surgical instrument configured to operate the surgical instrument described in this document, in accordance with an aspect of the present description. The 2500 robotic surgical instrument can be programmed or configured to control the distal / proximal translation of a displacement member, the distal / proximal displacement of the closing tube, the rotation and articulation of the drive shaft, either with a single type or multiple connections articulation drive. In one aspect, the surgical instrument 2500 can be programmed or configured to individually control a firing member, a closing member, a driving shaft member and / or one or more hinge members. The surgical instrument 2500 comprises a control circuit 2510 configured to control motor-driven firing members, closing members, driving shaft members and / or one or more hinge members.
[00129] [00129] In one aspect, the robotic surgical instrument 2500 comprises a control circuit 2510 configured to control an anvil 2516 and a beam portion with i-profile 2514 (including a sharp cutting edge) of an end actuator 2502, a cartridge of removable clamps 2518, a drive shaft 2540 and one or more hinge members 2542a, 2542b through a plurality of motors 2504a to 2504e. A position sensor 2534 can be configured to provide feedback on the beam with i-profile 2514 to the control circuit 2510. Other sensors 2538 can be configured to provide feedback to the control circuit 2510. A timer / counter 2531 provides timing information and count to the 2510 control circuit. A 2512 power source can be provided to operate the 2504a to 2504e motors and a 2536 current sensor provides motor current feedback to the 2510 control circuit. The 2504a to 2504e motors can be operated individually by the control circuit 2510 in an open loop or closed loop feedback control.
[00130] [00130] In one aspect, the 2510 control circuit may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions to the processor or processors. The control circuit 2510 can be implemented as a control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26). In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate beam position with i-profile 2514, as determined by position sensor 2534, with the timer / counter output 2531 so that the control circuit 2510 can determine the position of the beam with i 2514 profile at a specific time (t) in relation to an initial position or time (t) when the beam with profile in i 2514 it is in a specific position in relation to an initial position. The 2531 timer / counter can be configured to measure elapsed time, count external events, or measure external events.
[00131] [00131] In one aspect, the control circuit 2510 can be programmed to control functions of the end actuator 2502 based on one or more tissue conditions. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a trigger control program or closing control program based on the conditions of the fabric. 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. A closing control program can control the closing force applied to the tissue by the anvil 2516. Other control programs control the rotation of the drive shaft 2540 and the hinge members 2542a, 2542b.
[00132] [00132] In one aspect, the 2510 motor control circuit can generate motor setpoint signals. Motor setpoint signals can be provided for several 2508a to 2508e motor controllers. Motor controllers 2508a to 2508e can comprise one or more circuits configured to provide motor drive signals for motors 2504a to 2504e in order to drive motors 2504a to 2504e, as described here. In some instances, motors 2504a to 2504e may be brushed DC motors. For example, the speed of motors 2504a to 2504e can be proportional to the respective motor start signals. In some instances, motors 2504a to 1540e may be brushless direct current electric motors and the respective motor drive signals 2524a to 2524e may comprise a pulse width modulated (PWM) signal supplied to one or more windings of the stator of the 2504a to 2504e engines. In addition, in some instances, motor controllers 2508a to 2508e can be omitted and control circuit 2510 can directly generate motor drive signals 2524a to 2524e.
[00133] [00133] In one aspect, the control circuit 2510 can initially operate each of the motors 2504a to 2504e in an open circuit configuration for a first open circuit portion of the travel of the displacement member. Based on a response from the 2500 instrument during the open circuit portion of the course, control circuit 2510 can select a trip control program in a closed circuit configuration. 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 a closed circuit portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into a constant speed.
[00134] [00134] In one aspect, motors 2504a to 2504e can receive power from a 2512 power source. The 2512 power source can be a direct current power source powered by an alternating main current power source, a battery, a super capacitor or any other suitable 2512 power source. Motors 2504a to 2504e can be mechanically coupled to individual moving mechanical elements such as the i-profile beam 2514, the anvil 2516, the drive shaft 2540, the joint 2542a and the joint 2542b, through the respective transmissions 2506a to 2506e. Transmissions 2506a to 2506e can include one or more gears or other connecting components to couple motors 2504a to 2504e to moving mechanical elements. A 2534 position sensor can detect a position of the beam with i 2514 profile. The position sensor 2534 can be or can include any type of sensor that is capable of generating position data that indicate a position of the beam with i 2514 profile. In some examples, the position sensor 2534 may include an encoder configured to supply a series of pulses to the control circuit 2510 according to the beam with i-profile 2514 translated distally and proximally. The 2510 control circuit can track pulses to determine the position of the 2514 i-beam profile. Another suitable position sensor can be used, including, for example, a proximity sensor. Other types of position sensors can provide other signals that indicate the movement of the beam with i 2514 profile. In addition, in some examples, the position sensor 2534 may be omitted. When any of the engines 2504a to 2504e is a stepper motor, the control circuit 2510 can track the position of the beam with i-profile 2514 by aggregating the number and direction of the steps that the 2504 engine has been instructed to perform. The 2534 position sensor can be located on end actuator 2502 or any other portion of the instrument. The outputs of each of the 2504a to 2504e motors include a torque sensor 2544a to 2544e to detect force and have an encoder to detect the rotation of the drive shaft.
[00135] [00135] In one aspect, the 2510 control circuit is configured to drive a firing member as the 2514 i-profile beam portion of end actuator 2502. The 2510 control circuit provides a motor setpoint for a motor control 2508a, which provides a drive signal for motor 2504a. The motor output shaft 2504a is coupled to a torque sensor 2544a and a transmission 2506a which is coupled to the beam with I-profile 2514. The transmission 2506a comprises moving mechanical elements, such as rotating elements, and a firing member to distally and proximally control the movement of the i-profile beam 2514 along a longitudinal geometric axis of the end actuator 2502. In one aspect, the motor 2504a can be coupled to the cutting gear set 1220, which includes a set of cutting gear reduction 1224 which includes a first cutting drive gear 1226 and a second cutting drive gear 1228. As can be seen in Figures 9 and 10, the cutting gear reduction set 1224 is rotatable mounted on the instrument mounting plate 302 so that the first cutting drive gear 1226 is engaged in engagement with the cutting sprocket
[00136] [00136] In one aspect, control circuit 2510 is configured to drive a closing member, such as anvil portion 2516 of end actuator 2502. Control circuit 2510 provides a motor setpoint for motor control 2508b, which provides a drive signal for the 2504b motor. The motor output shaft 2504b is coupled to a torque sensor 2544b and a transmission 2506b, which is coupled to the anvil 2516. The transmission 2506b comprises moving mechanical elements, such as rotating elements and a closing member, to control the movement of the anvil 2516 between the open and closed positions. In one aspect, the motor 2504b is coupled to a closing gear assembly 1110, which includes a closing reduction gear assembly 1114 that is supported in engagement engaged with the closing sprocket 1112. As can be seen in Figures 9 and 10, the closing reduction gear assembly 1114 includes a driven gear 1116 that is pivotally supported in engagement with the closing sprocket 1112. The closing reduction gear assembly 1114 additionally includes a first drive gear locking device 1118 which is in gear with a second locking drive gear 1120 which is swiveled on the instrument mounting plate 302 in gearing with locking gear 1106. The torque sensor 2544b provides a signal closing force feedback for control circuit 2510. The closing force feedback signal rep resists the closing force applied to the anvil 2516. The position sensor 2534 can be configured to provide the position of the closing member as a feedback signal to control circuit 2510. Additional sensors 2538 on end actuator 2502 can provide the signal feedback force for the 2510 control circuit. A 2516 pivoting slide is positioned opposite the 2518 clamp cartridge. When ready for use, the 2510 control circuit can provide a closing signal to the 2508b motor control. In response to the closing signal, the motor 2504b advances a closing member to secure the fabric between the anvil 2516 and the staple cartridge 2518.
[00137] [00137] In one aspect, control circuit 2510 is configured to rotate a drive shaft member, such as drive shaft 2540, to rotate end actuator 2502. Control circuit 2510 provides a motor setpoint for a 2508c motor control, which provides a drive signal for the 2504c motor. The motor output shaft 2504c is coupled to a torque sensor 2544c and a transmission 2506c, which is coupled to the drive shaft 2540. The transmission 2506c comprises moving mechanical elements, such as rotating elements, to control the rotation of the shaft actuator 2540 clockwise or counterclockwise up to and above 360 °. In one aspect, the motor 2504c is coupled to the rotary transmission assembly 1069, which includes a tube gear segment 1062 that is formed over (or attached to) the proximal end 1060 of the proximal closing tube 1040 for operational engagement by a set rotational gear 1070 which is operationally supported on the instrument mounting plate 302. As shown in Figure 8, the rotating gear assembly 1070, in at least one aspect, comprises a 1072 rotating drive gear that is coupled to a first gear between the disks or driven elements 304 on the adapter side 307 of the instrument mounting plate 302 when the instrument mounting portion 300 is coupled to the instrument drive assembly 101. See Figure 6. The 1070 swivel gear assembly further comprises a 1074 rotary driven gear that is rotatably supported on the instrument mounting plate 302 in gear engagement connected with the pipe segment 1062 and the rotation drive gear 1072. The torque sensor 2544c provides a rotation force feedback signal to the control circuit 2510. The rotation force feedback signal represents the force of rotation applied to the 2540 drive shaft. The 2534 position sensor can be configured to provide the position of the closing member as a feedback signal to the 2510 control circuit. Additional 2538 sensors, such as a drive shaft encoder, can provide the rotational position of the 2540 drive shaft to the control circuit
[00138] [00138] In one aspect, the 2510 control circuit is configured to articulate the end actuator 2502. The 2510 control circuit provides a motor setpoint for a 2508d motor control, which provides a drive signal to the 2504d motor . The motor output shaft 2504d is coupled to a torque sensor 2544d and to a transmission 2506d which is coupled to a hinge member 2542a. The 2506d transmission comprises moving mechanical elements, such as articulation elements, to control the articulation of the end actuator 2502 ± 65 °. In one aspect, the 2504d engine is coupled to a 1260 hinge nut,
[00139] [00139] In another aspect, the articulation function of the robotic surgical system 10 can comprise two articulation members 2542a, 2542b or connections. These articulation members 2542a, 2542b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 2508d, 2508e. When the separate firing motor 2504a is provided, each hinge link 2542a, 2542b can be antagonistically driven with respect to the other link to provide a resistive holding movement and a load to the head when it is not moving and to provide a movement of articulation when the head is articulated. The hinge members 2542a, 2542b, or connections, attach to the head in a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull connection changes when the head is turned. This change in mechanical advantage can be more pronounced with other drive systems for the articulation connection.
[00140] [00140] In one aspect, the end actuator 2502 can be implemented as the surgical end actuator 1012, 3000, 5650, 6460, 6470 shown and described in conjunction with Figures 4, 6, 8 to 12, 15A, 15B, 19, 20 and 21. In one aspect, the i-profile beam portion 2514 of end actuator 2502 can be implemented as the cutting member 1032, 3005, 2514 shown and described together with Figures 11A, 12, 29 The I-beam profile 2514 comprises a cutting body that operationally supports a fabric cutting blade 2509 (Figure 29) in it. In one aspect, the anvil portion 2516 of the end actuator 2502 can be implemented as the anvil 1024, 3002, 5502, 5602, 6472 shown and described in conjunction with Figures 4, 6 to 14, 20 and 21.
[00141] [00141] In one aspect, the one or more motors 2504a to 2504e can comprise a brushed DC motor with a gearbox and mechanical connections to a firing member, closing member or articulation member. Another example are electric motors 2504a to 2504e that operate the moving mechanical elements, such as the displacement member, the articulation connections, the closing tube and the drive shaft. 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 an electric motor 2504a to 2504e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00142] [00142] In one aspect, the position sensor 2534 can be implemented as an absolute positioning system, as shown and described together with Figures 27 and 28. In one aspect, the position sensor 2534 can comprise a positioning system absolute rotary magnetic sensor implemented as a single integrated circuit rotary magnetic position sensor, AS5055EQFT, available from Austria Microsystems, AG. The 2534 position sensor can interface with the 2510 control circuit to provide an absolute positioning system. The position can include multiple Hall effect elements located above a magnet and coupled to a CORDIC processor (for Digital Computer for Coordinate Rotation), also known as the digit by digit method and Volder algorithm, which is provided to implement an algorithm simple and efficient to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bit shift and lookup table operations.
[00143] [00143] In one aspect, the control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 in order to measure the various parameters derivatives such as span distance as a function of time, tissue compression as a function of time and anvil tension as a function of time. The 2538 sensors can comprise a magnetic sensor, a magnetic field sensor, a stress meter, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensor suitable for measuring one or more parameters of the 2502 end actuator. The 2538 sensors may include one or more sensors. The 2538 sensors can be located on the 2518 staple cartridge platform to determine the location of the tissue using segmented electrodes. The torque sensors 2544a to 2544e can be configured to detect force, such as firing force, closing force and / or articulation force, among others. Consequently, the control circuit 26510 can detect: (1) the closing load experienced by the distal closing tube and its position; (2) the firing member on the rack and its position; (3) which portion of the staple cartridge 2518 has tissue over it; and (4) detecting the load and position on both articulation rods.
[00144] [00144] In one aspect, the one or more 2538 sensors may comprise a stress meter such as, for example, a micro-stress meter, configured to measure the magnitude of the stress on the 2516 anvil during a clamped 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.
[00145] [00145] In one aspect, the 2538 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive devices ("GMR" - giant magneto -resistive), magnetometers, among others. In other implementations, the 2538 sensors can be implemented as 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). In other implementations, the 2538 sensors can include driverless electric switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[00146] [00146] In one aspect, the 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system. For example, one or more sensors 2538 may be at a point of interaction between the closing tube and anvil 2516 to detect the closing forces applied by the closing tube on anvil 2516. The forces exerted on anvil 2516 may be representative of the tissue compression experienced by the tissue section captured between the anvil 2516 and the staple cartridge 2518. The one or more sensors 2538 can be positioned at various points of interaction throughout the closing drive system to detect the closing forces applied on the anvil 2516 by the closing drive system. The one or more 2538 sensors can be sampled in real time during a gripping operation by the 2510 control circuit processor. 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 anvil 2516.
[00147] [00147] In one aspect, a current sensor 2536 can be used to measure the current drained by each of the 2504a to 2504e motors. The force required to advance any of the moving mechanical elements, such as the beam with i 2514 profile, corresponds to the current drained by a 2504a to 2504e motor. The force is converted into a digital signal and supplied to the control circuit
[00148] [00148] In use, a robotic surgical instrument can detect and identify certain tissue conditions in the end actuator that can affect the performance of staple formation and the tissue cutting process. Consequently, in such situations, the displacement, for example, forward or retract, the process for controlling the velocity of the firing member can be based on the detected and identified parameters of the fabric span, coupling member load, knife advance speed and tissue compression. In one aspect, the present description provides various techniques for controlling the speed of advance or retraction of a displacement member of a robotic surgical instrument based on the detected and identified parameters of the end actuator span (for example, indicative of tissue thickness ), load of the coupling member as closing force (FTC) or firing force (FTF), knife advance speed, tissue impedance, tissue compression, tissue cover in the cartridge, among other parameters.
[00149] [00149] Figure 31 is a 12000 graph illustrating techniques for controlling the speed of advance or retraction of a displacement member of a robotic surgical instrument, according to an aspect of the present description. Graph 12000 represents the displacement of the displacement limb from a closed anvil condition or from a firing condition for the tissue that is thinner than expected or thicker than predicted. The first column 12002 shows the variables or parameters on which the speed control is based, such as the span of the end actuator between the anvil and the staple cartridge, closing force or firing force, knife speed, fabric impedance and fabric cover over the cartridge. The second column 12004 shows the selection of the initial closing speed of the slow or fast anvil, also known as the defined speed or control speed based on the detected and identified parameters shown in the first column 12002. The third column 12006 shows the updates of reducing or increasing the firing speed along the length of the cartridge (for example, X mm main in different sections, where X is the length of the cartridge, such as 10 mm to 60 mm, or more) based on the detected and identified parameters shown in the first column 12002.
[00150] [00150] Consequently, with reference now to the firing process from closing during the closing phase of the anvil shown in the second column 12004 based on the fabric span parameter, if the fabric span measured on the end actuator is less than a nominal fabric span and the defined initial speed of the displacement member is slow, the velocity of the displacement member will be increased, as indicated by the symbol ++, where the number of symbols "+" or "─" refers to an increase or proportional reduction of the defined speed, respectively. In contrast, if the measured fabric span is greater than the nominal fabric span and the initial set speed of the travel member is fast, the speed of the travel member is reduced as indicated by the symbol ─ ─.
[00151] [00151] With reference now to the firing process from closing during the closing phase of the anvil shown in the second column 12004 based on the closing force parameter (FTC), if the measured FTC is less than a limit force and the initial set speed of the travel member is slow, the speed of the travel member can be increased as indicated by the symbol ++. In contrast, if the measured FTC is greater than the limit force and the initial velocity of the displacement limb is fast, the velocity of the displacement limb is reduced, as indicated by the symbol ─ ─.
[00152] [00152] The next variable, the cutting speed parameter (for example, the speed of the displacement member), is ignored because the initial speed of the knife from the closing is always zero. Consequently, with reference now to the triggering process from closing during the anvil closing phase shown in the second column 12004 based on the fabric impedance parameter, if the measured fabric impedance is less than expected, indicating that the fabric is thinner than expected, and the initial defined speed of the travel member is slow, the speed of the travel member can be increased, as indicated by the symbol ++. In contrast, if the measured tissue impedance is greater than the limit impedance of the tissue, indicating that the tissue is thicker than expected, and the initial adjustment speed of the displacement member is fast, the velocity of the displacement member is decreased as indicated by the symbol ─ ─.
[00153] [00153] With reference now to the firing process from the closing during the anvil closing phase shown in the second column 12004 based on the cover parameter of the cartridge, for example, based on the fabric partially or totally covering the space between the anvil and staple cartridge, if the measured fabric does not cover the entire cartridge and the initial defined speed of the travel member is slow, the speed of the travel member can be increased as indicated by the + symbol. On the other hand, if the measured fabric covers the entire cartridge and the initial velocity of the displacement member is fast, the velocity of the displacement member will be reduced as indicated by the symbol ─.
[00154] [00154] The description now turns to the firing phase shown in the third column 12006. Consequently, with reference to the fabric span parameter, if during the firing phase at the current defined firing speed, the fabric span measured on the actuator end decreases, the speed of the displacement member is increased, as indicated by the + symbol. On the other hand, if during the firing phase at the current set firing speed, the measured span of the end actuator increases, the speed of the displacement member is decreased, as indicated by the symbol ─.
[00155] [00155] With reference to the FTF parameter, if during the firing phase at the current set firing speed, the measured FTF decreases, the defined speed of the displacement member is increased, as indicated by the symbol ++. In contrast, if during the firing phase at the current set firing speed, the measured FTF increases, the defined speed of the displacement member is decreased, as indicated by the symbol ─ ─.
[00156] [00156] With reference to the cutting speed parameter (for example, travel speed), as indicated in the third column 12006, the ─ symbol indicates a decrease in the defined speed and the + symbol indicates an increase in the defined speed. Consequently, with reference now to the tissue impedance parameter, if during the firing phase at the current defined firing speed, the measured tissue impedance decreases (indicating a decrease in the thickness of the tissue), the defined speed of the displacement member is increased as indicated by the + symbol. On the other hand, if during the firing phase at the current defined firing speed, the measured fabric impedance increases (indicating an increase in the thickness of the fabric), the defined speed of the speed displacement member is decreased as indicated by the symbol ─.
[00157] [00157] Finally, with reference now to the cartridge coverage parameter, if during the firing phase at the current defined firing speed, the measured cartridge coverage decreases, the defined speed of the displacement member is increased as indicated by the + symbol . On the other hand, if during the firing phase at the current set firing speed, the measured cartridge coverage increases, the defined speed of the travel member is decreased, as indicated by the symbol ─.
[00158] [00158] With the above background, the description now turns to Figure 32, which is a graphical representation of a closed loop speed control process 12100, in accordance with an aspect of the present description. The top graph 12102 shows the variation in tissue thickness as a function of the position along the staple cartridge. The horizontal geometric axis 12142 is dimensioned to represent the length of the staple cartridge X mm, where X is 10 to 60 mm, for example. Consequently, for a 60 mm staple cartridge, X = 60 mm. The vertical geometric axis 12144 represents the thickness T (mm) of the fabric. The horizontal geometry axis 242 is also divided into four zones (Zone 1 to Zone 4) of equal length. As shown, the thickness of the 12110 fabric ranges from 0.25X to 0.74X (15 to 45mm for a 60mm cartridge). The control circuit monitors the thickness of the fabric along the length of the cartridge and compares the thickness of the fabric 12110 to a limit thickness of 12115. The plot of the fabric thickness 12110 indicates that the fabric is located only in Zone 2 and Zone 3 of the cartridge and not in Zone 1 and Zone 4. In addition, the thickness of tissue 12110 is above the limit thickness 12115 between δ1 and δ2, so that the tissue segments 12112, 12116 are below the limit thickness 12115 and the thickness of a portion of the tissue 12114 is located above the limit thickness 12115. Consequently, as discussed in graph 12000 in Figure 31, the speed control process of the closed loop will be adjusted based on the tissue condition parameters found in the closing phase and in the firing phase.
[00159] [00159] The second graphic 12104, from the top, represents the fabric cover 12110 as a function of the position along the staple cartridge, where the horizontal geometric axis 12142 represents the length of the staple cartridge X mm, and the axis vertical geometric 12148 represents the presence of fabric 12110 in a specific zone (Zone 1 to Zone 4). The cartridge cover is represented as a binary variable so that, if the 12110 fabric is present, the cartridge cover is 1 and, if the 12110 fabric is not present, the cartridge cover is 0. As shown, the cartridge is 0 in Zone 1 and Zone 4 and is 1 in Zone 2 and Zone 3.
[00160] [00160] The third graph 12106, from the top, represents the firing force (N) as a function of the position along the staple cartridge for slow and fast travel speeds and for a controlled speed. The horizontal geometric axis 12150 represents the length of the staple cartridge X mm, and the vertical geometric axis 12148 represents the firing force (N). As shown, the slow speed FTF curve 12126 has a lower force profile than the fast speed curve 12130. The controlled curve 12128 represents the force profile when process 12200 discussed with reference to Figure 33 is performed by the control circuit 2510 (Figure 30). In general, when the knife or the displacement member encounters the fabric 12110 which is thicker than the limit thickness 12115, the control circuit decreases the defined velocity of the displacement member, as discussed in more detail with reference to the graph of background 12108.
[00161] [00161] Background graphic 12108 represents control speed 12118 (dashed line) and actual speed 12120 (continuous line) as a function of the position along the staple cartridge when the horizontal geometric axis 12154 represents the length of the staple cartridge X mm and the vertical geometric axis 12156 represents the control speed (mm / s). The control speed 12118 is the motor speed defined by the control circuit and the real speed 12120 is the real speed, as measured by the control circuit through the feedback of the position sensor and the timer / counter circuit. The control speed 12118 is determined based on the tissue conditions experienced during the initial closing phase and the firing phase. The control circuit adjusts control speed 12118 based on the closed circuit control process 12200 described with reference to Figure 33 to compensate, for example, the thickness of the fabric and the cover of the cartridge. However, command speed 12118 can be adjusted by the closed loop control process 12200 based on any of the parameters or variables described in the first column 12002 of graph 12000 shown in Figure 31.
[00162] [00162] In the example of Figure 32, upon detecting that there is no tissue in Zone 1, the control circuit increases the command speed from 0 mm / s to VALTA 12122 during the period of Zone 1 until the fabric 12110 is found by the beam knife with an i-profile at the beginning of Zone 2 (0.25 X mm) and at that point, the control speed 12118 is reduced to the VBAIXA speed
[00163] [00163] Figure 33 is a logic flow diagram representing a 12200 process of a control program or a logical configuration for determining tissue conditions on an end actuator and thus adjusting the command speed according to an aspect of this description. Process 12200 will be described in reference to the robotic surgical instrument 2500 shown in Figure 30 programmed to control the distal translation of a displacement member, closing tube path, rotation and articulation of the drive shaft, either with one or two drive connections articulation according to one aspect of the present description. One or more sensors 2538 of the robotic surgical instrument 2500 detect 12202 tissue conditions on end actuator 2502 during an anvil closing phase 2516, for example, while anvil 2516 closes on staple cartridge 2518. The outputs of the one or more 2538 sensors are supplied to the control circuit 2510. The control circuit 2510 defines 12204 the control speed of the motor 2504a by applying a motor setpoint to the motor control 2508a which, in turn, applies a control signal motor drive to motor 2504a to set the speed of motor 2504a to drive or fire 12206 the displacement member coupled to the beam with i-profile 2514 at the control speed during the closing phase. The torque sensor 2544a on the motor output drive shaft 2504a can provide a torque signal to the additional control circuit 2510 to detect the force encountered by the i-profile beam 2514 while moving inside the end actuator 2502. One 2534 position sensor is configured to detect the position of the 2514 i-profile beam or another displacement member of the 2500 robotic surgical system.
[00164] [00164] Process 12200 continues during the trigger phase. Consequently, the one or more 2538 sensors detect 12208 fabric conditions on end actuator 2502 during the firing phase of the I-profile beam 2514. Control circuit 2510 receives input from one or more 2538 sensors and additionally from the torque 2544a, position sensor 2534 and, optionally, current sensor 2536 to define 12210 the control speed of the displacement member coupled to the beam with I-profile 2514 based on the detected fabric conditions 12208. The displacement member advances at the set speed until changes in tissue conditions are detected 12212. The command speed is then adjusted 12210 to a new command speed based on detected tissue conditions 12212. Reference is made to graph 12000 in Figure 31 and the description in attachment to trigger the displacement member from a 2516 anvil close condition or a trigger condition for a fabric based on the c tissue undulations found on the end actuator
[00165] [00165] According to process 12200, the control circuit 2510 of the robotic surgical system 2500 is configured to detect 12202 a condition in an end actuator 2502 during a closing phase. The control circuit 2510 defines 12204 the control speed of the motor 2504a coupled to a displacement member, for example, the beam with i-profile 2514, coupled to the end actuator 2502 based on the detected condition 12202 on the end actuator 2502 during the closing phase. Control circuit 2510 fires 12206 the travel member at the set command speed. Control circuit 2510 detects 12208 a condition on end actuator 2502 during a trip phase. The control circuit defines 1210 the motor control speed 2504a based on the detected condition 12208 on the end actuator 2502 during the trip phase.
[00166] [00166] During the closing or firing phase, the 2510 control circuit of the 2500 robotic surgical system is configured to detect tissue thickness based on 2538 sensors and is configured to detect a defined gap between the anvil portion 2516 and clamp cartridge 2518 of end actuator 2502 based on sensors 2538 and adjust the control speed based on the span and the control speed when the gap is detected. The thickness of the fabric can be detected by several 2538 sensors, such as those shown in Figures 13 to 21 and in the attached description.
[00167] [00167] The control circuit 2510 can be configured to detect a closing force defined as the force experienced by the anvil portion 2516 and clip cartridge 2518 of the end actuator 2502 closed on the fabric located between them and adjust the speed of command based on closing force and command speed when force is detected. The force can be detected by force sensors, such as strain gauges, located on the anvil 2516 or the staple cartridge 2518 or elsewhere on the end actuator 2502 as shown in Figures 13 to 21 and the attached description. In addition, the closing force can be provided by the torque sensor 2544b coupled to a second motor 2508b.
[00168] [00168] The 2510 control circuit can be configured to detect a trigger force to displace the displacement member and adjust the command speed based on the trigger force and the command speed when the force is detected. The triggering force can be supplied to the control circuit 2510 by the sensors 2538 or by the torque sensor 2544a coupled to the motor output drive shaft 2508a.
[00169] [00169] The control circuit 2510 can be configured to detect the electrical impedance of the tissue located between the anvil 2516 and the staple cartridge 2518 of the end actuator 2502 and adjust the control speed based on the electrical impedance and the control speed when impedance is detected. Electrical impedance can be detected using a variety of 2538 sensors, such as those shown in Figures 13 to 21 and in the attached description. The electric current driven through the tissue located between the electrode segments can be used by the 2510 control circuit to measure the tissue impedance.
[00170] [00170] The 2510 control circuit can be configured to detect the fabric cover located between a portion of the anvil and staple cartridge of the end actuator and adjust the control speed based on the cover and the control speed when the cover is detected. The tissue coverage can be detected using various sensors such as those shown in Figures 13 to 21 and in the attached description.
[00171] [00171] The functions or processes 12000 described here can be performed by any of the processing circuits described here, such as control circuit 961 (Figure 22), 800 (Figure 23), 810 (Figure 24), 820 (Figure 25), 4420 (Figure 26) and / or the 2510 control circuit (Figure 30). The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details.
[00172] [00172] Parts of this description can be presented in terms of instructions that operate on data stored in a computer memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[00173] [00173] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of several types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits forming a general-purpose computing device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs the processes and / or devices described herein), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations thereof.
[00174] [00174] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, several portions of the subject described here can be implemented using application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computer systems). computer), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[00175] [00175] The mechanisms of the disclosed subject can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[00176] [00176] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00177] [00177] Several aspects of the subject described in this document are defined in the following examples:
[00178] [00178] Example 1. A robotic surgical system comprising: a control circuit configured for:
[00179] [00179] detecting a condition in an end actuator during a closing phase; define the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger the displacement member at the defined command speed; detect a condition on the end actuator during a trip phase; and defining the motor control speed based on the condition detected in the end actuator during the trip phase.
[00180] [00180] Example 2. The robotic surgical system of Example 1, the condition during the closing or firing phase is the thickness of the tissue and the control circuit is configured to detect a defined gap between an anvil portion and clamp cartridge of the end actuator and adjust the control speed based on the span and the control speed when the gap is detected.
[00181] [00181] Example 3. The robotic surgical system of any one of Example 1 and Example 2, the condition during the closing phase is the closing force applied to an anvil towards a staple cartridge and the circuit control unit is configured to detect a closing force defined as the force experienced by the anvil and a portion of the clamp cartridge of the closed-end actuator on the fabric located between them and adjust the control speed based on the closing force and the speed when the force is detected.
[00182] [00182] Example 4. The robotic surgical system of any one of Example 1 to Example 3, the condition during the firing phase being the firing force to displace the displacement member and the control circuit is configured to detect a trigger force to displace the displacement member and adjust the command speed based on the trigger force and the command speed when the force is detected.
[00183] [00183] Example 5. The robotic surgical system of any one of Example 1 to Example 4, the condition during the closing phase or the firing phase is the electrical impedance of the tissue located between an anvil and a cartridge in the actuator end and the control circuit is configured to detect the electrical impedance of the tissue between the anvil and the end actuator clamp cartridge and adjust the control speed based on the electrical impedance and the control speed when the impedance is detected .
[00184] [00184] Example 6. The robotic surgical system of any one of Example 1 to Example 5, the condition during the closing phase or the firing phase is the tissue cover on the end actuator and the control circuit is configured to detect the fabric cover situated between an anvil and a clip cartridge portion of the end actuator and adjust the control speed based on the cover and the control speed when the cover is detected.
[00185] [00185] Example 7. The robotic surgical system of any one of Example 1 to Example 6, the control circuit being configured to adjust the command speed during the firing phase to adjust the speed of the displacement member during the shooting.
[00186] [00186] Example 8. A robotic surgical system comprising: a control circuit coupled to a motor and configured to define a motor control speed during a closing phase or a triggering phase, the motor being configured to start a displacement member at the control speed, the control circuit being configured to: detect a first condition in the end actuator; detecting a second condition on the end actuator; set the motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the set command speed.
[00187] [00187] Example 9. The robotic surgical system of Example 8, the first condition being the tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of the end actuator; set the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and setting the motor control speed to a second speed in sections of the end actuator where the fabric is located in the end actuator, the second speed being less than the first speed.
[00188] [00188] Example 10. The robotic surgical system of any one of Example 8 and Example 9, the first condition being the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and the third speed being less than the second speed.
[00189] [00189] Example 11. The robotic surgical system from any of Example 8 to Example 10, the first condition being the closing force applied to the end actuator and the control circuit is configured to: receive the closing force from a sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00190] [00190] Example 12. The robotic surgical system of any one of Example 8 to Example 11, the first condition being the trigger force to displace the displacement member and the control circuit is configured to: receive the triggering from a sensor coupled to the motor output; and setting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00191] [00191] Example 13. The robotic surgical system from any of Example 8 to Example 12, the first condition being the tissue impedance in the end actuator and the control circuit is configured to: receive the tissue impedance a from a sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and the third speed being less than the second speed.
[00192] [00192] Example 14. The robotic surgical system of any of Example 8 to Example 13, the second condition being tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence the tissue from a sensor located in a section of the end actuator; set the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and setting the motor control speed to a second speed in sections of the end actuator where the fabric is located in the end actuator, the second speed being less than the first speed.
[00193] [00193] Example 15. The robotic surgical system of any one of Example 8 to Example 14, the second condition being the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the fabric thickness is greater than a limit thickness and the third speed being less than the second speed.
[00194] [00194] Example 16. The robotic surgical system of any one of Example 8 to Example 15, the second condition being the closing force applied to the end actuator and the control circuit is configured to: receive the closing force from a sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00195] [00195] Example 17. The robotic surgical system of any one of Example 8 to Example 16, the second condition being the trigger force to displace the displacement member and the control circuit is configured to: receive the triggering from a sensor coupled to the motor output; and setting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00196] [00196] Example 18. The robotic surgical system of any one of Example 8 to Example 17, the second condition being the tissue impedance in the end actuator and the control circuit is configured to: receive the tissue impedance a from a sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and the third speed being less than the second speed.
[00197] [00197] Example 19. A robotic surgical system comprising: a first motor to drive a displacement member coupled to a cutting member; a second motor for driving a closing tube coupled to an anvil portion of an end actuator, the closing tube being configured to close or open the anvil; and a control circuit coupled to the first and second motors, the control circuit being configured to define a control speed of the first motor during a closing phase or a triggering phase and to define a control speed of the second motor for apply a closing force to the closing tube coupled to the anvil, the control circuit being configured to: detect a first condition in the end actuator; detecting a second condition on the end actuator; define the first motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the first defined command speed.
[00198] [00198] Example 20. The robotic surgical system of Example 19, the first condition being the tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of the end actuator; set the control speed of the first motor to a first speed in the sections of the end actuator where there is no fabric; and defining the command of the first motor for a second speed in the sections of the end actuator where the fabric is located in the end actuator; the second speed being less than the first speed.
[00199] [00199] Example 21. The robotic surgical system of any one of Example 19 and Example 20, the first condition being the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the fabric of a span sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the thickness of the fabric is greater than a limit thickness and the third speed being less than the second speed.
[00200] [00200] Example 22. The robotic surgical system from any of Example 19 to Example 21, the first condition being the closing force applied to the end actuator and the control circuit is configured to: receive the closing force from a sensor coupled to an output drive shaft of the second motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00201] [00201] Example 23. The robotic surgical system of any one of Example 19 to Example 22, the first condition being the trigger force to displace the displacement member and the control circuit is configured to: receive the triggering from a sensor coupled to the drive shaft of the output of the first motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00202] [00202] Example 24. The robotic surgical system of any one of Example 19 to Example 23, the first condition being the tissue impedance in the end actuator and the control circuit is configured to: receive the tissue impedance a from a sensor located on the end actuator; and setting the control speed of the first motor to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and the third speed being less than the second speed.
[00203] [00203] Example 25. The robotic surgical system of any one of Example 19 to Example 24, the first condition being tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence the tissue from a sensor located in a section of the end actuator; set the control speed of the first motor to a first speed in the sections of the end actuator where there is no fabric; and defining the command of the first motor for a second speed in the sections of the end actuator where the fabric is located in the end actuator; the second speed being less than the first speed.
[00204] [00204] Example 26. The robotic surgical system of any of Example 19 to Example 25, the first condition being the thickness of the tissue located on the end actuator and the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and setting the motor control speed to a third speed in sections of the end actuator where the thickness of the fabric is greater than a limit thickness and the third speed being less than the second speed.
[00205] [00205] Example 27. The robotic surgical system from any of Example 19 to Example 26, the first condition being the closing force applied to the end actuator and the control circuit is configured to: receive the closing force from a sensor coupled to an output drive shaft of the second motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00206] [00206] Example 28. The robotic surgical system of any one of Example 19 to Example 27, the first condition being the trigger force to displace the displacement member and the control circuit is configured to: receive the triggering from a sensor coupled to the drive shaft of the output of the first motor; and setting the control speed of the first motor to a third speed in sections of the end actuator where the closing force is greater than a limit force and the third speed being less than the second speed.
[00207] [00207] Example 29. The robotic surgical system from any of Example 19 to Example 28, the first condition being the tissue impedance in the end actuator and the control circuit is configured to: receive the tissue impedance a from a sensor located on the end actuator; and setting the control speed of the first motor to a third speed in sections of the end actuator where the impedance is greater than a limit impedance and the third speed being less than the second speed.

权利要求:
Claims (29)
[1]
1. Robotic surgical system, characterized by comprising: a control circuit configured to: detect a condition in an end actuator during a closing phase; adjust the control speed of a motor coupled to a displacement member coupled to the end actuator based on the condition detected in the end actuator during the closing phase; trigger the displacement member at the set command speed; detect a condition on the end actuator during a trip phase; and adjust the motor control speed based on the condition detected in the end actuator during the trip phase.
[2]
2. Robotic surgical system, according to claim 1, characterized in that the condition during the closing phase or the firing phase is the thickness of the tissue and the control circuit is configured to detect a defined gap between an anvil and a staple cartridge portion of the end actuator and adjust the control speed based on the span and the control speed at the time the span is detected.
[3]
3. Robotic surgical system, according to claim 1, characterized in that the condition during the closing phase is the closing force applied to an anvil towards a staple cartridge and because the control circuit is configured to detect a force closing time defined as the force experienced by the anvil and the portion of the clamp cartridge of the closed-end actuator on the fabric located between them and adjusting the control speed based on the closing force and the control speed at the moment when the force is detected.
[4]
4. Robotic surgical system, according to claim 1, characterized in that the condition during the firing phase is the firing force to move the displacement member and the control circuit is configured to detect a firing force to move the displacement member and adjust the command speed based on the firing force and the command speed at the moment the force is detected.
[5]
5. Robotic surgical system, according to claim 1, characterized in that the condition during the closing phase or the firing phase is the electrical impedance of the tissue located between an anvil and a cartridge in the end actuator and by the control circuit be configured to detect the electrical impedance of the tissue located between the anvil and the end actuator clamp cartridge and adjust the control speed based on the electrical impedance and the control speed at the time the impedance is detected.
[6]
6. Robotic surgical system, according to claim 1, characterized in that the condition during the closing phase or the firing phase is the tissue cover on the end actuator and the control circuit is configured to detect the tissue cover located between an anvil and a staple cartridge portion of the end actuator and adjust the control speed based on the cover and the control speed at the time the cover is detected.
[7]
7. Robotic surgical system according to claim 1, characterized in that the control circuit is configured to adjust the control speed during the firing phase to adjust the speed of the displacement member during firing.
[8]
8. Robotic surgical system, characterized by comprising: a control circuit coupled to a motor and configured to define a motor control speed during a closing phase or a firing phase, in which the motor is configured to drive a limb. displacement at command speed, where the control circuit is configured to: detect a first condition on the end actuator; detecting a second condition on the end actuator; adjust the motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the set command speed.
[9]
9. Robotic surgical system, according to claim 8, characterized in that the first condition is the covering of the tissue in segmented sections of the end actuator and in that the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of a section of the end actuator; adjust the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and adjusting the motor control speed to a second speed in sections of the end actuator where the fabric is located on the end actuator, where the second speed is less than the first speed.
[10]
10. Robotic surgical system, according to claim 8, characterized in that the first condition is the thickness of the tissue located in the end actuator and in that the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and adjusting the motor control speed to a third speed in the sections of the end actuator where the fabric thickness is greater than a limit thickness, and where the third speed is less than the second speed.
[11]
11. Robotic surgical system, according to claim 8, characterized in that the first condition is the closing force applied to the end actuator and because the control circuit is configured to: receive the closing force from a sensor located in the actuator far end; and adjusting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[12]
12. Robotic surgical system according to claim 8, characterized in that the first condition is the firing force to move the displacement member and the control circuit is configured to: receive the firing force from a coupled sensor at the engine outlet; and adjusting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[13]
13. Robotic surgical system, according to claim 8, characterized in that the first condition is the impedance of the tissue located in the end actuator and in that the control circuit is configured to: receive the impedance of the tissue from a sensor located in the end actuator; and adjusting the motor control speed to a third speed in the sections of the end actuator where the impedance is greater than a limit impedance, and where the third speed is less than the second speed.
[14]
14. Robotic surgical system, according to claim 8, characterized in that the second condition is the covering of the tissue in segmented sections of the end actuator and in that the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of a section of the end actuator; adjust the motor control speed to a first speed in the sections of the end actuator where there is no fabric; and adjusting the motor control speed to a second speed in sections of the end actuator where the fabric is located on the end actuator, where the second speed is less than the first speed.
[15]
15. Robotic surgical system, according to claim 8, characterized in that the second condition is the thickness of the tissue located in the end actuator and in that the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and adjusting the motor control speed to a third speed in the sections of the end actuator where the fabric thickness is greater than a limit thickness, and where the third speed is less than the second speed.
[16]
16. Robotic surgical system, according to claim 8, characterized in that the second condition is the closing force applied to the end actuator and because the control circuit is configured to: receive the closing force from a sensor located in the actuator far end; and adjusting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[17]
17. Robotic surgical system according to claim 8, characterized in that the second condition is the firing force to move the displacement member and the control circuit is configured to: receive the firing force from a coupled sensor at the engine outlet; and adjusting the motor control speed to a third speed in sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[18]
18. Robotic surgical system, according to claim 8, characterized in that the second condition is the tissue impedance on the end actuator and the control circuit is configured to: receive the tissue impedance from a sensor located on the actuator edge; and adjusting the motor control speed to a third speed in the sections of the end actuator where the impedance is greater than a limit impedance, and where the third speed is less than the second speed.
[19]
19. Robotic surgical system characterized by comprising: a first motor to drive a displacement member coupled to a cutting member; a second motor for driving a closing tube coupled to an anvil portion of an end actuator, wherein the closing tube is configured to close or open the anvil; and a control circuit coupled to the first and second motors, the control circuit being configured to define a control speed of the first motor during a closing phase or a triggering phase and to define a control speed of the second motor to apply a closing force to the closing tube coupled to the anvil, where the control circuit is configured to: detect a first condition in the end actuator; detecting a second condition on the end actuator; adjust the first motor control speed based on the first and second conditions detected on the end actuator; and trigger the travel member at the first set command speed.
[20]
20. Robotic surgical system, according to claim 19, characterized in that the first condition is the tissue coverage in segmented sections of the end actuator and the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of a section of the end actuator; adjust the control speed of the first motor to a first speed in sections of the end actuator where there is no fabric; and adjusting the command of the first motor to a second speed in the sections of the end actuator where the fabric is located in the end actuator; where the second speed is less than the first speed.
[21]
21. Robotic surgical system, according to claim 19, characterized in that the first condition is the thickness of the tissue located in the end actuator and in that the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the thickness of the fabric is greater than a limit thickness, and where the third speed is less than the second speed.
[22]
22. Robotic surgical system, according to claim 19, characterized in that the first condition is the closing force applied to the end actuator and the control circuit is configured to: receive the closing force from a sensor coupled to an output drive shaft of the second motor; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[23]
23. Robotic surgical system according to claim 19, characterized in that the first condition is the firing force to displace the displacement member and the control circuit is configured to: receive the firing force from a coupled sensor to the output drive shaft of the first motor; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[24]
24. Robotic surgical system, according to claim 19, characterized in that the first condition is the impedance of the tissue located in the end actuator and in that the control circuit is configured to: receive the impedance of the tissue from a sensor located in the end actuator; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the impedance is greater than a limit impedance, and where the third speed is less than the second speed.
[25]
25. Robotic surgical system according to claim 19, characterized in that the first condition is the covering of the tissue in segmented sections of the end actuator and in that the control circuit is configured to: receive the presence of the tissue from a sensor located in a section of a section of the end actuator; adjust the control speed of the first motor to a first speed in sections of the end actuator where there is no fabric; and adjusting the command of the first motor to a second speed in the sections of the end actuator where the fabric is located in the end actuator; where the second speed is less than the first speed.
[26]
26. Robotic surgical system, according to claim 19, characterized in that the first condition is the thickness of the tissue located in the end actuator and in that the control circuit is configured to: receive the thickness of the tissue from a span sensor located on the end actuator; and adjust the control speed of the first motor to a third speed in the sections of the extAv actuator. Rodolfo Amoedo, 300 - Barra da Tijuca where the thickness of the fabric is greater than a limit thickness, and where the third speed is less than the second speed.
[27]
27. Robotic surgical system, according to claim 19, characterized in that the first condition is the closing force applied to the end actuator and in that the control circuit is configured to: receive the closing force from a sensor coupled to an output drive shaft of the second motor; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[28]
28. Robotic surgical system according to claim 19, characterized in that the first condition is the firing force to move the displacement member and the control circuit is configured to: receive the firing force from a coupled sensor to the output drive shaft of the first motor; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the closing force is greater than a limit force, and where the third speed is less than the second speed.
[29]
29. Robotic surgical system, according to claim 19, characterized in that the first condition is the impedance of the tissue located in the end actuator and in that the control circuit is configured to: receive the tissue impedance from a sensor located in the end actuator; and adjusting the control speed of the first motor to a third speed in the sections of the end actuator where the impedance is greater than a limit impedance, and where the third speed is less than the second speed.

类似技术:

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公开号 | 公开日 | 专利标题

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同族专利:

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公开号 | 公开日

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US20190000565A1|2019-01-03|

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CN110831516A|2020-02-21|

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JP2020525233A|2020-08-27|

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WO2019003024A1|2019-01-03|

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US11007022B2|2021-05-18|

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EP3420972A1|2019-01-02|

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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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US15/636,837|2017-06-29|

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US15/636,837|US11007022B2|2017-06-29|2017-06-29|Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument|

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PCT/IB2018/054342|WO2019003024A1|2017-06-29|2018-06-13|Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument|

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