closed-loop feedback control of motor speed of a surgical stapling and cutting instrument based on t

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member (1111), a motor (1120) coupled to the displacement member (1111), a control circuit coupled to the motor (1120), a position sensor (1112) coupled to the control circuit and a timer circuit coupled to the control circuit. The timer circuit is configured to measure the elapsed time and to receive, from the position sensor (1112), a position of the displacement member (1111) in a current zone during an adjusted time interval, to measure the displacement of the displacement member. displacement (1111) at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member (1111) during the adjusted time at a command speed adjusted for the current zone , and adjusting a driving speed of the displacement member (1111) for a subsequent zone based on the measured displacement of the displacement member (1111) within the current zone.
公开号:BR112019027201A2
申请号:R112019027201-1
申请日:2018-05-16
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；Jason L. Harris；Shane R. Adams；David C. Yates；Sarah A. Worthington
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND OF THE INVENTION
[002] [002] In a motorized surgical stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the cutting element speed during a firing stroke to take into account tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a scan range of the end actuator.
[003] [003] When using a motorized surgical cutting and stapling instrument, it is possible that the speed of the cutting member or the firing member may need to be measured and adjusted to compensate for tissue conditions. In thick fabric, the speed can be decreased to decrease the firing force experienced by the cutting member or firing member, if the firing force experienced by the cutting member or firing member is greater than a limit force. In thin tissue, speed can be increased if the firing force experienced by the cutting member or the firing member is less than a threshold. Therefore, it may be desirable to provide a closed loop feedback system that measures and adjusts the speed of the cutting member or the firing member based on a measurement of distance traveled over a specific time increase. It may be desirable to measure the speed of the cutting member or the firing member by measuring the distance in fixed fixed time intervals. SUMMARY OF THE INVENTION
[004] [004] In one aspect, the present description provides a surgical instrument. The surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer circuit being configured to measure the elapsed time; the control circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an adjusted time interval; measure the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the adjusted time interval at a command speed adjusted for the current zone ; and adjusting a driving speed of the displacement member for a subsequent zone based on the measured displacement of the displacement member within the current zone.
[005] [005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the control circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an initial adjusted time interval; measuring the displacement of the displacement member from a target position to a distal position during the initial adjusted time interval; and adjusting a driving speed of the displacement member for a first dynamic zone based on the measured displacement from the target position to the distal position.
[006] [006] In another aspect, the present description provides a method of controlling the speed of the motor in a surgical instrument, the surgical instrument comprising a displacement member configured to move within the surgical instrument over a plurality of predefined zones , a motor coupled to the displacement member to move the displacement member, a control circuit attached to the motor, a position sensor attached to the control circuit, the position sensor being configured to monitor the position of the displacement member, a timer circuit coupled to the control circuit, the timer circuit being configured to measure the elapsed time, the method comprising: receiving, through a position sensor, a position of a displacement member within a current zone predefined by a predetermined distance; measure, by means of the control circuit, the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the time interval adjusted to a command speed set for the current zone; and adjusting, by means of the control circuit, a command speed of the displacement member for a subsequent zone based on the displacement measured in the current zone. FIGURES
[007] [007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[008] [008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this description.
[009] [009] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this description.
[0010] [0010] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this description.
[0011] [0011] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this description.
[0012] [0012] Figures 5A to 5B is a block diagram of a control circuit of the surgical instrument of 1 that comprises two drawing sheets, according to one aspect of this description.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the handle assembly, the feeding assembly and the handle assembly and the interchangeable drive shaft assembly, according to with an aspect of the present description.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, the absolute positioning system comprising a motor controlled drive circuit arrangement comprising a sensor arrangement, according to a aspect of this description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor array, according to one or more aspects of this description.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present description.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped within the end actuator, in accordance with an aspect of the present description. .
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present description.
[0022] [0022] Figure 15 illustrates a diagram that plots two displacement member courses performed, according to an aspect of the present description.
[0023] [0023] Figure 16A illustrates an end actuator comprising a firing member coupled to an I-shaped rod comprising a cutting edge according to an aspect of the present description.
[0024] [0024] Figure 16B illustrates an end actuator in which the I-shaped rod is located in a target position at the top of a ramp with the top pin engaged in the T-profile slot according to one aspect of this description.
[0025] [0025] Figure 17 illustrates the firing stroke of the I-shaped rod which is illustrated by a graph aligned with the end actuator according to an aspect of the present description.
[0026] [0026] Figure 18 is a graphical representation that compares the thickness of the tissue as a function of the adjusted time interval of the stem stroke with I-shaped profile (upper graph), the force for firing as a function of the adjusted time interval of the I-shaped stem travel (second graph from above), dynamic time controls as a function of the adjusted I-profile stem travel time (third graph from above) and the adjusted rod speed with I-shaped profile as a function of the adjusted time interval of the I-shaped stem travel (bottom graph) according to one aspect of this description.
[0027] [0027] Figure 19 is a graphical representation of the firing force as a function of time comparing slow, medium and high displacement speeds of the I-shaped rod according to one aspect of the present description.
[0028] [0028] Figure 20 is a logic flow diagram of a process that represents a control program or logic configuration to control the command speed at an initial trigger stage according to an aspect of the present description.
[0029] [0029] Figure 21 is a logic flow diagram of a process that represents a control program or a logical configuration for controlling the command speed in a dynamic trigger stage according to an aspect of the present description. DESCRIPTION
[0030] [0030] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0031] [0031] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0032] [0032] Attorney Document No. END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0033] [0033] Attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0034] [0034] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0035] [0035] Attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0036] [0036] Attorney document number END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY by the inventors Frederick ES. Shelton, IV et al., Filed on June 20, 2017.
[0037] [0037] Attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
[0038] [0038] Attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0039] [0039] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0040] [0040] Attorney document number END8199USNP / 170062M, entitled ECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0041] [0041] Attorney document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0042] [0042] Attorney document number END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0043] [0043] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED
[0044] [0044] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0045] [0045] Attorney Document No. END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20,
[0046] [0046] Attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0047] [0047] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0048] [0048] The applicant for the present application holds the following design patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0049] [0049] Attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0050] [0050] Attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0051] [0051] Attorney document number END8272USDP / 170195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0052] [0052] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the devices and methods described. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0053] [0053] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, with the term "proximal" referring to the portion closest to the doctor and the term "distal" referring to the portion located farthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0054] [0054] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or one through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft of the surgical instrument can be advanced.
[0055] [0055] Figure 1 to 4 illustrates a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a handle assembly 14 that is configured to be picked up, manipulated and actuated by the physician. The compartment 12 is configured for operational attachment to an interchangeable drive shaft assembly 200 that has an end actuator 300 operably coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" can encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the sets of drive shaft. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies described herein can be used with various robotic systems, instruments, components and methods described in US patent No. 9,072,535,
[0056] [0056] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled thereto, according to an aspect of this description. The housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 therein. Housing 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to hold different sizes and types of clamp cartridges, and that have different lengths, sizes and types of shaft drive. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements tips adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0057] [0057] The handle assembly 14 may comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The handle assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached thereto. A screen can be provided under a cover 45.
[0058] [0058] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this description. The handle assembly 14 can include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by the structure 20. The closing trigger 32 is pivotally coupled to the handle assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a physician. When the physician holds the pistol grip portion 19 of the grip assembly 14, the closing trigger 32 can pivot from an initial or "not acted" position to an "acted" position and, more particularly, to a completely compressed or completely actuated.
[0059] [0059] The handle assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed thereto. The firing drive system 80 can employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. Electric motor 82 can be a direct current (DC) motor with brushes having a maximum rotation of approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The electric motor 82 can be powered by a power supply 90 which can comprise a removable power source 92. The removable power source 92 can comprise a portion of the proximal compartment 94 that is configured for attachment to a portion of the distal compartment 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to support operationally a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery ("LI") or other suitable battery . The distal compartment portion 96 is configured for removable operational attachment to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can power the surgical instrument 10. The power supply 90 can be replaceable and / or rechargeable. A screen 43, which is located below cover 45, is electrically coupled to control circuit board 100. Cover 45 can be removed to expose screen 43.
[0060] [0060] The electric motor 82 can include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reduction assembly 84 mounted on coupling coupling with a set or rack, of drive teeth 122 in a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0061] [0061] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, and the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The handle assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The handle assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0062] [0062] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the handle assembly 14. The trigger trigger 130 can be rotated between an unacted position and an acted position.
[0063] [0063] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0064] [0064] Returning to Figure 1, the closing tube 260 is translated distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 in the manner described in the previously mentioned reference of the publication Patent Application No. 2014/0263541. Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0065] [0065] Figure 3 is another view of the exploded set of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present description. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a portion distal cutter or cutter bar 280. The firing member 220 can be called a "second drive shaft" or a "second drive shaft assembly". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a tab 284 at the proximal end 282 of the cutter bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow relative movement between them and may comprise a slide joint 286. The slide joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot end actuator 300 around pivot joint 270 without moving, or at least without substantially moving the cutter bar 280. When the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutting bar 280 and fire a staple cartridge positioned inside the channel 302. The back 210 it has an elongated opening or window 213 inside to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside the back 210. When the intermediate trigger drive shaft 222 has been inserted into it, an upper segment of the frame 215 can be engaged with drive shaft structure 212 to enclose intermediate trigger drive shaft 222 and cutter bar 280 itself. Operation of trigger member 220 can be seen in US Patent Application Publication No. 2014/0263541. The central column 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the central column 210. The central column 210 can slidably support a pivoting actuator 230.
[0066] [0066] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the hinge actuator 230 to the firing member
[0067] [0067] The interchangeable drive shaft assembly 200 may comprise a slide ring assembly 600 that can be configured to conduct electrical energy to the end actuator 300 and / or from it and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The flange of the proximal connector 604 may comprise a first face and the flange the distal connector 601 can comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts, with each contact corresponding and in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The electrical connector 606 can extend proximally through a connector opening defined on the chassis mounting flange. US patent application publication No. 2014/0263551, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US patent application publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. Additional details regarding the slip ring assembly 600 can be found in US Patent Application Publication No. 2014/0263541.
[0068] [0068] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the handle assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 600. The distal connector flange
[0069] [0069] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 can include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. The openings 199 can be defined in the elongated channel 302 to receive pins 152 extending from the anvil 306 to allow the anvil 306 to rotate from an open position to a closed position in relation to the elongated channel 302 and surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator 300. The firing bar 172 may be constructed of a solid section or may include a laminated material comprising, for example, a stack of steel plates. The firing bar 172 comprises a rod with an "I" profile 178 and a cutting edge 182 at a distal end thereof. One end of the distally designed firing bar 172 can be attached to the I-shaped rod 178 to assist in spacing anvil 306 from a surgical staple cartridge 304 positioned in the elongated channel 302 when the anvil 306 is in the closed position. The I 178 shaped rod may include a sharp cutting edge 182, which can be used to separate the fabric, as the I 178 shaped rod is advanced distally by the trigger bar 172. In operation, the I shaped rod 178 can, or fire, the surgical staple cartridge 304. The surgical staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 resting on the staple actuators 192 within the respective open staple cavities upward 195. A wedge slide 190 is distally driven by the I-shaped rod 178, sliding over a cartridge tray 196 of the surgical staple cartridge 304. The wedge slide 190 moves the staple actuators upwards by cam 192, to expel the clips 191 in deformation contact with the anvil 306, while the cutting edge 182 of the I-shaped rod 178 cuts the tight tissue.
[0070] [0070] The I-shaped rod 178 may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned within the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the I-shaped rod 178 can slide through the aligned longitudinal slits 193, 197 and 189, and, as indicated in Figure 4, the base 186 of the I-shaped rod 178 can engage a groove positioned along the lower surface of the elongated channel 302 along the length of slot 189, the middle pins 184 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage the anvil 306. The profile rod and m I 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is distally advanced in order to fire the staples from the surgical staple cartridge 304 and / or make an incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the I-shaped rod 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and cut tissue portions.
[0071] [0071] Figures 5A and 5B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1 which comprises two drawing sheets according to one aspect of this description. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include an engine 714, which can be controlled by an engine driver 715 and can be employed by the trigger system of the surgical instrument 10. In several ways, the engine 714 it can be a direct current (DC) motor with brushes with a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field effect transistors (FETs) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle assembly 200 to supply control power to the surgical instrument 10. The supply set 706 may comprise a battery that may include several battery cells connected in series, which can be used as the energy source to energize the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[0072] [0072] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and the supply set 706 are coupled to the handle assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with corresponding electrical driveshaft assembly connectors and a second interface portion 727 which can include one or more connectors for coupling coupling with the corresponding power pack electrical connectors to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and the supply assembly 706 are the coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716. In response, the controller management system can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the 704 fixed drive shaft assembly. The connectors can comprise switches that can be activated after mechanically coupling the handle assembly 702 to the drive shaft assembly 704 and / or the power assembly 706 to allow electrical communication between the drive shaft assembly controller 722 and the power management controller 716.
[0073] [0073] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 located in the assembly handle grip 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are coupled to the handle assembly 702.
[0074] [0074] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex and available from Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.
[0075] [0075] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0076] [0076] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738, and a current sensing circuit 736. The power management circuit can be configured to modulate the battery's output power based on the power requirements of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power supply 706 and the current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output so that the 716 power management controller can adjust the power output lifted from the feeding set 706 to maintain a desired outlet. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0077] [0077] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated with the supply set 706. In these circumstances, the communication between the output device 742 and the drive shaft assembly controller 722 can be made through the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[0078] [0078] The control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor segment , and a feed segment. Each of the circuit segments can be coupled to the safety controller and / or to the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as a printed circuit board (PCBA) assembly inside the energized surgical instrument
[0079] [0079] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer can be used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0080] [0080] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The display may comprise any suitable display, such as an organic light-emitting diode (OLED) display, a liquid crystal display (LCD), and / or any other suitable display. In some examples, the screen segment is coupled to the safety controller.
[0081] [0081] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft assembly 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory. . The drive shaft PCBA EEPROM memory comprises one or more parameters, routines, and / or specific programs for the interchangeable drive shaft assembly 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or can be integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters, and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the energized surgical instrument 10.
[0082] [0082] The position encoder segment (segment 6) comprises one or more magnetic encoders of the position of the rotation angle. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0083] [0083] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0084] [0084] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 714 to the main controller 717. The main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal, and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0085] [0085] The energy segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0086] [0086] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a surgical instrument status 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot for the right side, one for the right pivot for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central hinge key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a flexing connector on the left. The keys on the right side comprising the key on the left pivot side for the right side, the key on the right pivot side for the right side, the central pivot key for the right side, and the reverse key on the right side are coupled main controller 717 via a right-hand flex connector. A trip key, a clamping release key, and a key attached to the drive shaft are coupled to the main controller 717.
[0087] [0087] Any suitable mechanical, electromechanical, or solid state switches can be employed to implement the plurality of switches, in any combination. For example, the keys can be limit switches operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices such as transistors (for example, FET, junction FET, metal oxide semiconductor FET (MOSFET), bipolar, and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0088] [0088] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle assembly 702 and the supply assembly 706 and between the handle assembly 702 and the assembly of interchangeable drive shaft 704, in accordance with an aspect of the present description. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power management circuit. power 734 which can comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery output energy 707 based on the power requirements of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the set power output power supply 706 and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power pack
[0089] [0089] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, actuators haptic). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be made through interface 725 while the interchangeable drive shaft assembly 704 is coupled to the handle assembly 702. Having described a control circuit 700 (Figures 5A to 5B and 6) to control the operation of the surgical instrument 10 (Figures 1 to 4), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 4) and to the control circuit 700.
[0090] [0090] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor may be any one of several single-core or multi-core processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0091] [0091] Figure 8 illustrates a combinational logic circuit 810 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. The combinational logic circuit 810 can be configured to implement various processes described here. Circuit 810 may comprise a finite state machine comprising a combinational logic circuit 812 configured to receive data associated with the surgical instrument 10 at an input 814, process the data by combinational logic 812 and provide an output 816.
[0092] [0092] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement the process described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824, a clock 829 and, for example. The at least one memory circuit 820 can store a state of the finite state machine current. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive the data associated with the surgical instrument 10, an input 826, process the data through the combinational logic circuit 822, and provide an output 828. In other aspects, the circuit may comprise a combination of the processor 802 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.
[0093] [0093] 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.
[0094] [0094] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), with the absolute positioning system 1100 comprising a controlled motor drive circuit arrangement comprising an arrangement of sensor 1102, in accordance with an aspect of the present description. The sensor arrangement 1102 for an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member 1111. Back briefly to Figures 2 to 4, in one aspect, displacement member 1111 represents the limb longitudinally movable drive 120 (Figure 2) comprising a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of a gear reduction assembly 84. In other respects, the displacement member 1111 represents the drive member trigger 220 (Figure 3), which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 1111 represents the firing bar 172 (Figure 4) or the I-shaped rod 178 (Figure 4), each of which can be adapted and configured to include a rack of teeth drive. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument 10, such as the driving member 120, the firing member 220, the firing bar 172, the stem with I 178 profile, or any element that can be moved. In one aspect, the longitudinally movable driving member 120 is coupled to the firing member 220, the firing bar 172 and the I-shaped rod 178. Consequently, the absolute positioning system 1100 can, in effect, track linear displacement of the I-shaped rod 178 by tracking the linear displacement of the longitudinally movable driving member 120. In several other aspects, the displacement member 1111 can be coupled to any suitable sensor to measure the linear displacement. In this way, the longitudinally movable drive member 120, the firing member 220, the firing bar 172, or the I-shaped rod 178, or combinations thereof, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise variable differential linear transformers (LVDT), variable reluctance differential transducers (DVRT), a potentiometer, a magnetic detection system comprising a moving magnet and a series linearly arranged in Hall effect sensors, a system magnetic detection system comprising a fixed magnet and a series of furniture, linearly arranged in Hall effect sensors, a mobile optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system which comprises a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors, or any combination thereof.
[0095] [0095] An 1120 electric motor may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted on a coupling hitch with a set, or rack, of drive teeth on the displacement member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member 1111. An array of gears and sensors 1118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power supply 1129 supplies power to the absolute positioning system 1100 and an output indicator 1128 can show the output of the absolute positioning system 1100. In Figure 2, the displacement member 1111 represents the longitudinally movable drive member 120 comprising a drive tooth rack 122 formed therein for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. The displacement member 1111 represents the longitudinally movable firing member 220, the firing bar 172, the stem with I 178 profile, or combinations thereof.
[0096] [0096] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 represents the longitudinal linear distance by which the displacement member 1111 moves from the point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the position sensor 1112 completing one or more revolutions for the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the full travel of the travel member 1111.
[0097] [0097] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the position sensor 1112. The state of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the displacement member 1111. The position sensor output 1124 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements, which emit a unique combination of signal position or values.
[0098] [0098] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the instrument energizing without having to retract or advance the displacement member 1111 to the reset position (zero or initial), as can be case of conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0099] [0099] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. Electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with an articulation or scalpel system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system is described in US patent application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR
[00100] [00100] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[00101] [00101] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to measure the physical parameters of the physical system in addition to the position measured by the position sensor
[00102] [00102] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with external power semiconductor metal oxide field (MOSFET) transistors. , N-channel, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, provides full door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor Input control can be used to supply the excess voltage to that supplied by the battery needed for the N channel MOSFETs. An internal charge pump for the upper side drive allows operation in direct current (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be readily replaced for use in the 1100 absolute positioning system.
[00103] [00103] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor arrangement 1102, the description now turns to Figures 11 to 12 for a description of an aspect of a sensor arrangement 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the displacement member 1111, and a set of gears 1206 to provide a gear reduction. With brief reference to Figure 2, the displacement member 1111 can represent the longitudinally movable drive member 120 comprising a drive tooth rack 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly
[00104] [00104] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include search coil, saturated flux, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00105] [00105] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is engaged in coupling with the displacement member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the displacement 1111 advances in a distal direction D and rotates in a second direction as displacement member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the driving axis 1214 and therefore the rotation of the second gear 1210 around the driving axis 1214 corresponds to the longitudinal translation of the displacement member 1111. Thus, a full stroke of the displacement member 1111, either in the distal or proximal direction, D, P, corresponds to three rotations of the second gear 1210 and a single rotation of the first gear
[00106] [00106] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable to hold the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to the bracket 1216 and the circuit 1205 and remains stationary while the magnet 1202 rotates with the magnet holder 1204. A hub 1222 is provided that couples to the first gear 1208 and to the magnet holder 1204. The second gear 1210 and the third gear 1212 coupled to shaft 1214 are also shown.
[00107] [00107] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, in accordance with an aspect of the present invention. The position sensor 1200 can be implemented as a rotary, magnetic, single-chip position sensor, AS5055EQFT, available from Austria Microsystems, AG. The position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in one area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution ADC and a 1238 intelligent power management controller are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation DIgital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. Position sensor 1200 can be an integrated circuit
[00108] [00108] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transversal to an electric current conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density and the applied magnetic field. This is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor and stored in an integrated way in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of the magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[00109] [00109] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00110] [00110] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no implementation of the integrated angle value filter by digital average, as this would require more than one angle measurement and, consequently, a longer power-up time, which is not desired in low power applications. The angle variation can be reduced by averaging multiple angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[00111] [00111] Figure 13 is a sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the I-shaped profile 2514 in relation to the tissue 2526 trapped inside the actuator end 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. An firing 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. An I-shaped rod 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00112] [00112] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graphic 2529 aligned with end actuator 2502. The exemplifying tissue 2526 is also shown aligned with end actuator 2502. The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the I-profile rod 2514, the I-profile rod 2514 can be advanced distally from the start position 2527 to the end position 2528. The I 2514 profile rod is shown in an exemplary location of the 2527 start position. The 2529 stroke profile of the I 2514 profile rod illustrates five regions of trip member 2517, 2519, 2521, 2523 and 2525. In a first region of the trip course 2517, the I-shaped rod 2514 can begin to advance distally. In the first region of the firing stroke 2517, the I-shaped rod 2514 can contact the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a 2511 clamp driver. After the static friction is overcome, the force to drive the rod with I-profile 2514 in the first region 2517 can be substantially constant.
[00113] [00113] In the second stroke region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric
[00114] [00114] As discussed above and with reference now to Figures 10 to 13, the electric motor 1122 positioned inside the handle set of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the firing system of the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem with I 2514 profile can be advanced or retracted at a desired speed, or within a range of desired speeds Controller 1104 can be configured to control the speed of the I 2514 profile rod. Controller 1104 can be configured to predict the speed of the I-profile rod 2514 based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operational parameters of the electric motor 11 22 or external influences. Controller 1104 can be configured to predict the current speed of the I-shaped profile 2514 based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-shaped profile 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I 2514 profile rod and the detected speed of the I 2514 profile rod to determine whether the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod in I 2514 and / or decreased so as to decrease the speed of the I 2514 profile rod. US patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, is hereby incorporated by reference in its entirety. US patent No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, is hereby incorporated by reference in its entirety.
[00115] [00115] The force acting on the rod with I 2514 profile can be determined using various techniques. The strength of the I-profile rod 2514 can be determined by measuring the current of the 2504 motor, the current of the engine 2504 being based on the load experienced by the I-profile rod 2514 as it advances distally. The strength of the I-profile rod 2514 can be determined by placing a strain gauge on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the I-profile rod 2514 (rod with I-profile 178, Figure 20), on the trigger bar 172 (Figure 2), and / or at a proximal end of the cutting edge 2509. The strength of the I-profile rod 2514 can be determined by monitoring the actual position of the rod with I-2514 profile that moves at an expected speed based on the set current speed of the 2504 motor after a predetermined elapsed period T1 and by comparing the actual position of the I-2514 profile rod with the expected position of the profile rod in I 2514 based on the set current speed of the motor 2504 at the end of the T1 period. Thus, if the actual position of the I 2514 profile rod is less than the expected position of the I 2514 profile rod, the force on the I 2514 profile rod is greater than a nominal force. On the other hand, if the actual position of the rod with I 2514 profile is greater than the expected position of the rod with I 2514 profile, the force on the rod with I 2514 profile is less than the nominal force. The difference between the actual and expected positions of the I-2514 shaped rod is proportional to the force deviation in the I-2514 shaped rod from the nominal force. These techniques are described in the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[00116] [00116] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable staple cartridge 2518. End actuator 2502, anvil 2516, I-profile stem 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00117] [00117] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Because the rod with I-shaped profile 2514 is coupled to a longitudinally movable driving member 120, the position of the rod with profile in I 2514 can be determined by measuring the position of the longitudinally movable driving member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the closing member 2514 can be obtained by the position sensor 2534, as described in the present invention. A control circuit 2510, such as control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the I-shaped rod 2514, as described in connection with Figures 10 to 12. The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors, or other processors suitable for executing instructions that cause the processor or processors to control the displacement member, for example, the profile rod in I 2514, as described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate the position of the rod with I-profile 2514, as determined by the position sensor 2534, with the output of the timer / counter circuit 2531 so that the control circuit 2510 can determine the position of the I-profile rod 2514 at a specific time (t) in relation to an initial position. The timer / counter circuit 2531 can be configured to measure elapsed time, count external events, or measure external events.
[00118] [00118] The control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524 drive signal. In some instances, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more stator windings motor 2504. In addition, in some examples, the motor controller 2508 can be omitted, and the control circuit 2510 can generate the motor 2524 drive signal directly.
[00119] [00119] The 2504 motor can receive power from an energy source
[00120] [00120] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters such as the gap distance in relation to time, the compression of the tissue in relation to time, and the tension of the anvil in relation to time. The 2538 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor, and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[00121] [00121] The one or more 2538 sensors may comprise an effort meter, such as a microstrain meter, configured to measure the magnitude of the stress on the 2516 anvil during a tight condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. 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.
[00122] [00122] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 may be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a hold operation by a processor as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00123] [00123] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the rod with I-profile 2514 corresponds to the current drained by the motor
[00124] [00124] Using the physical properties of the instruments described here, in connection with Figures 1 to 14, and with reference to Figure 14, a 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software . A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which can be one of any feedback feedback controllers, including, but not limited to, a PID, state feedback, LQR, and / or an adaptive controller, for example. The 2500 surgical instrument can include a power source to convert the signal from the feedback controller to a physical input such as housing voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example.
[00125] [00125] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting element or rod with I 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a system articulation and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an unmeasured and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00126] [00126] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[00127] [00127] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise an articulating anvil 2516 and, when configured for use, an ultrasonic blade 2518 positioned on the opposite side of the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the I-shaped rod 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00128] [00128] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement limb, such as the I-profile rod 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[00129] [00129] In one aspect, control circuit 2510 can initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel of the displacement member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member into one constant speed.
[00130] [00130] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to an aspect of the present description. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[00131] [00131] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trip control program that advances the rod with I-shaped profile 2514 at a constant selected speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the rod with I-profile 2514 to Vlenta speed by monitoring the position of the rod with I-profile 2514 and modulation of the setpoint of the engine 2522 and / or the motor start signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when a thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00132] [00132] During the initial time period (for example, the open circuit period) between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the displacement member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period.
[00133] [00133] The description now turns to a closed loop feedback system to provide speed control for a displacement member. The closed loop feedback system adjusts the speed of the displacement member based on a measurement of time over a specific distance or displacement of the displacement member. In one aspect, the closed-loop feedback system comprises two phases. An initial phase defined as the beginning of a firing stroke followed by a dynamic firing phase, as the rod with I 2514 profile advances distally during the firing stroke. Figures 16A and 16B show the 2514 I-shaped rod positioned in the initial phase of the firing stroke. Figure 16A illustrates an end actuator 2502 comprising a firing member 2520 coupled to an I-shaped rod 2514 which comprises a cutting edge 2509. The anvil 2516 is in the closed position and the I-shaped rod 2514 is located in a proximal or stationary position 9502 at the bottom of the closing ramp 9506. The stationary position 9502 is the position of the I-profile rod 2514 before the anvil 2516 moves upward from the closing ramp 9506 to the top of the ramp 9506 and inwards of the slot with a T-profile 9508 and, perhaps, a distance beyond a predetermined initial fixed time interval T0, which is a fixed period of time over which the displacement of the displacement member is measured. A 9580 top pin is configured to engage a slot with a T-profile 9508, and a 9582 locking pin is configured to engage a 9584 locking feature.
[00134] [00134] In Figure 16B, the rod with I-2514 profile is located in a distal position 9504 at the end of the time interval T0 with the top pin 2580 engaged in the slot with the T-profile 9508 and the bottom pin. As shown in Figures 16A and 16B, when moving from stationary position 9502 to distal position 9504, during the time interval T0, the I-shaped rod 2514 travels a distance indicated as the actual measured displacement δ0 in the horizontal distal direction. During the initial phase, the speed of the I-shaped profile 2514 is set to a predetermined initial speed Vo. A control circuit 2510 measures the actual displacement δ0 traveled by the I-shaped rod 2514 over a predetermined fixed time interval T0, from stationary position 9502 to distal position 9504 at initial speed V0. In one aspect, at an initial command speed V0 of 12 mm / s, the actual measured horizontal displacement δ0 of the I-profile rod 2512 over a fixed time interval T0 = 0.8 s can be δ0 = 10, 16 mm due to external influences that act on the cutting edge 2509 of the I 2514 profile rod. As described in more detail below, the T0 time interval is fixed and the actual displacement of the I 2514 profile rod along the interval fixed time T0 is measured and is used to adjust the control speed of the I-profile rod 2514 in slow, medium or fast in the subsequent staple cartridge zones Z1, Z2, Z3… Zn as the profile rod in I 2514 advances distally. The number of zones may depend on the length / size of the staple cartridge (for example, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm,> 60 mm). Zones Z1 to Zn are defined in terms of fixed time intervals T1 to Tn during which the control circuit 2510 measures the actual displacement of the displacement member.
[00135] [00135] The control speed or the set speed is the speed of the motor 2504 which is applied to the motor 2504 by the control circuit 2510 and to the motor control 2508 in order to achieve a desired speed of the I-profile rod 2514. A actual speed of the I-profile rod 2514 is determined by the control circuit 2510 by measuring the position of the I-profile rod 2514 with the 2534 position sensor at fixed time intervals Tn determined by the timer / counter
[00136] [00136] Figure 17 illustrates the firing stroke of the I-profile rod 2514 illustrated by a graph 9509 aligned with the end actuator 2502 according to an aspect of the present description. As shown, the initial zone Z0, or base zone, is the length of a fixed time interval T0 during which the I-shaped rod 2514 moves from stationary position 9502 to a distal position 9504, which can vary based on in external influences that act on the stem with I 2514 profile, such as tissue thickness. The initial time interval T0 is the fixed fixed time at which the I-shaped rod 2514 can travel upward from the closing ramp 9506 and to the distal position 9504 at an initial set speed V0. The actual displacement δ0 of the I-profile rod 2514 in zone Z0 during the fixed period T0 is used to adjust the control speed in the subsequent zone Z1.
[00137] [00137] Now with reference to Figures 14 to 17, in the initial phase, for example, at the beginning of a firing stroke, the 2510 control circuit is configured to start firing the displacement member, such as the I-shaped rod 2514, at a predetermined speed V0 (for example, 12 mm / s). During the initial phase, control circuit 2510 is configured to monitor the position of the I-profile rod 2514 and measure the actual displacement δ0 of the I-profile rod 2514 over a fixed time interval T0 from the stationary position 9502, or at the end of a low power mode of operation. The actual displacement δ0 of the displacement member over the fixed time interval T 0 is used by the control circuit 2510 to determine the firing speed of the I-profile rod 2514 through the first zone Z1. For example, in one aspect, if the actual displacement is δ0> 10.0 mm, the speed can be adjusted as fast and, if the actual displacement is δ0 ≤ 10.0 mm, the speed can be adjusted as average. Faster or slower time intervals Tn can be selected based on the length of the 2518 staple cartridge. In several respects, if a locking condition is encountered, the 2504 motor will stop before the I-shaped rod 2514 reaches the end of initial time interval T0. When this condition occurs, the screen of the surgical instrument indicates the status of the instrument and can issue a stop warning. The screen can also indicate a speed selection.
[00138] [00138] During the dynamic firing phase, the surgical instrument employs dynamic firing control of the displacement member, in which the control circuit 2510 is configured to monitor the position of the I-shaped profile 2514 and measure the actual displacement δn of the I-shaped profile 2514 during the time interval T n, for example, from the beginning of a zone to the end of a zone, where the time interval T n can be 0.4 s or 0.8 s, for example. In Figure 17, δ1 represents the actual displacement of the I-shaped profile 2514 from the beginning of zone Z1 to the end of zone Z1. Similarly, δ 2 represents the distance traveled by the I-shaped profile 2514 from the beginning of zone Z2 to the end of zone Z 2, and so on. Table 1 shows the zones that can be defined for 2518 staple cartridges of various sizes. Table 1 - Zones defined for staple cartridges of various sizes Zones Z1 Z2 Z3 Z4 Z5 Z6 35 mm cartridge 0 mm to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s> 1.2 s N / AN / A 40 to 45 mm 0 to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s 1.2 to 1.6 s> 1.6 s N / A 55 a 60 mm 0 to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s 1.2 to 1.6 s 1.6 to 2.0 s> 2.0 s
[00139] [00139] For 2518 staple cartridges over 60 mm, the pattern continues, but for the last 10 to 15 mm, it continues at a command speed or indicated from the previous zone pending further interventions for the end of the stroke, among others. At the end of each Zn zone, the actual displacement δn of the I-profile rod 2514 is compared to the values stored in a lookup table (for example, as shown in Tables 2 to 5 below) to determine how to adjust the control speed Vn +1 for the next Zn + 1 zone. The command speed is updated to the next zone and the process continues.
[00140] [00140] In one aspect, Tables 1 to 5 can be stored in the memory of the surgical instrument. Tables 1 to 5 can be stored in memory in the form of a query table (LUT), so that the 2510 control circuit can retrieve the values and control the command speed of the I-shaped profile 2514 in each zone based on the values stored in the LUT.
[00141] [00141] Figure 18 is a graphical representation 9600 that compares the thickness of the tissue as a function of the adjusted time interval Tn of the stem stroke with I-shaped profile 9202 (upper graph), the triggering force as a function of the set time Tn of the stem travel with I-shaped profile 9604 (second graph from above), dynamic time controls as a function of the adjusted time interval Tn of the stem travel with I-shaped profile (third graph from above) ) and the adjusted speed of the I-shaped stem as a function of the adjusted time interval Tn of the stroke of the I-shaped stem 9608 (bottom graph) according to one aspect of this description. The horizontal geometry axis 9610 for each of the graphs 9602, 9604, 9606, 9608 represents the adjusted time interval Tn of I-shaped profile stroke 2514 for a 60 mm staple cartridge, for example. Staple cartridges of different lengths can be readily replaced. With reference to Table 1, the horizontal geometric axis 9610 was marked to identify the defined zones Z1 to Z6 for a 60 mm staple cartridge. As shown in Table 1, defined zones can be marked for staple cartridges of various sizes. With reference also to Figure 14, according to the present description, the control circuit 2510 samples the displacement of the I-profile rod 2514 at the adjusted time intervals received from the timer / counter circuit 2531 as the profile rod in I 2514 it advances distally along the staple cartridge 2518 during the firing stroke. At the set time intervals, the control circuit 2510 samples the position of the I-profile rod 2514 from the position sensor 2534 and determines the actual displacement δn of the I-profile rod 2514 during the time interval Tn. In this way, the 2510 control circuit can determine the actual speed of the I-profile rod 2514 and compare the actual speed to the estimated speed and make the necessary adjustments to the 2504 motor speed.
[00142] [00142] The tissue thickness graph 9602 shows a tissue thickness profile 9620 over a 2518 staple cartridge and a thickness indicated in the tissue region 9621 as shown by the horizontal dashed line. The firing force graph 9604 shows the firing force profile 9628 along the staple cartridge 2518. The firing force 9630 remains relatively constant while the fabric thickness in the fabric region 9622 remains below the thickness indicated in the fabric region 9621 as the I-shaped profile 2514 crosses zones Z1 and Z2. As the I-2514 shaped rod enters the Z3 zone, the tissue thickness in the 9624 tissue region increases and the firing force also increases as the I-2514 shaped rod traverses the thicker tissue in the Z3, Z4 zones and Z5. As the I-shaped rod 2514 leaves zone Z5 and enters zone Z6, the thickness of fabric 9226 decreases and the firing force 9234 also decreases.
[00143] [00143] With reference to Figures 14, 17 and 18 and Tables 2 and 3, the speed V1 in zone Z1 is adjusted to the speed Vo determined by control circuit 2510 in zone Zo, which is based on the displacement δ0 of the rod with profile in I 2514 during the initial adjusted time interval T0, as discussed in relation to Figures 16A, 16B. In relation also to the graphs 9606, 9608 in Figure 18, the initial adjusted speed Vo was adjusted as average and, thus, the adjusted speed V1 in zone Z1 is adjusted as average, so that V1 = Vo.
[00144] [00144] At the set time t1 (for example, 0.4 s for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z1 and enters zone Z2, the control circuit 2510 measures the actual displacement δ1 of the I-profile rod 2514 over the adjusted time interval T1 (0.4 s duration) and determines the actual speed of the I-profile rod 2514. Referring to graphs 9606 and 9608 in Figure 18, at the adjusted time t1, the actual displacement δ1 of the I-profile rod 2514 over the adjusted time interval T1 is δ1 = 4.5 mm. According to Table 3, a real displacement of 4.5 mm in zone Z1 requires that the control speed or adjusted V2 in zone Z2 be adjusted as an average. Consequently, the 2510 control circuit does not reset the command speed for zone Z2 and maintains it as average.
[00145] [00145] At the set time t2 (for example, 0.8 s for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z2 and enters zone Z3, the control circuit 2510 measures the actual displacement δ2 of the I-profile rod 2514 over the set time interval T2 (0.8 s duration) and determines the actual speed of the I-profile rod 2514. Referring to graphs 9606 and 9608 in Figure 18, at the adjusted time t2, the actual displacement δ2 of the I-profile rod 2514 over the adjusted time interval T2 is δ2 = 9.0 mm. According to Table 3, a real displacement of 9.0 mm in zone Z2 requires the control or adjusted speed V2 in zone Z2 to be adjusted as an average. Consequently, the 2510 control circuit does not reset the command speed for zone Z3 and maintains it as average.
[00146] [00146] At the set time t3 (for example, 2.0 s for a 60 mm staple cartridge), as the rod with I-profile 2514 leaves zone Z3 and enters zone Z4, the control circuit 2510 measures the actual displacement δ3 of the I-profile rod 2514 over the set time interval T3 (0.8 s duration) and determines the actual speed of the I-profile rod 2514. Referring to graphs 9606 and 9608 in Figure 18, at the adjusted time t3, the actual displacement δ3 of the rod with I-shaped profile 2514 over the adjusted time interval T 3 is δ3 = 7.5 mm. According to Table 3, a real displacement of 7.5 mm in zone Z3 requires that the control speed or adjusted V4 in zone Z4 be set to slow. This is because the actual displacement of 7.5 mm is less than 8.0 mm and is outside the previous range. Consequently, control circuit 2510 determines that the actual speed of the I-profile rod 2514 in zone Z3 was slower than expected due to external influences, such as thicker than expected tissue, as shown in the 9624 tissue region in the graph 9602. Consequently, control circuit 2510 resets command speed V4 in zone Z4 from medium to slow.
[00147] [00147] In one aspect, the 2510 control circuit can be configured to disable speed reset in a zone after a zone in which the speed has been reset. In other words, whenever the speed is updated in a current zone, the subsequent zone is not evaluated. Since the speed has been updated in zone Z4, the distance traveled by the I-shaped rod will not be measured at the end of zone Z4 at the set time t4 (for example, 2.8 s for a 60 mm staple cartridge). As a result, the speed in zone Z5 will remain the same as the speed in zone Z4 and dynamic displacement measurements will resume at the set time t5 (eg 3.6 s for a 60 mm staple cartridge).
[00148] [00148] At the set time t5, as the rod with I-shaped profile 2514 leaves zone Z5 and enters zone Z6, control circuit 2510 measures the actual displacement δ5 of the rod with I-shaped profile 2514 over the interval of adjusted time T5 (0.8 s duration) and determines the real speed of the rod with I-shaped profile 2514. With reference to graphs 9606 and 9608 in Figure 18, at the adjusted time t5, the actual displacement δ5 of the rod with I-shaped profile 2514 over the adjusted time interval T5 is δ5 = 9.5 mm. According to Table 3, a real displacement of 9.5 mm in zone Z5 requires that the control speed or adjusted V6 in zone Z6 be set to high. This is due to the fact that the actual displacement of 9.5 mm is greater than 9.0 mm and is outside the previous range, the control circuit 2510 determines that the real speed of the I-profile rod 2514 in zone Z5 has been faster than expected due to external influences, such as thinner than expected fabric, as shown in fabric region 9626 on graph 9602. Consequently, control circuit 2510 redefines command speed V6 in zone Z6 from slow to high.
[00149] [00149] Figure 19 is a 9700 graphical representation of the firing force as a function of time comparing slow, medium and high displacement speeds of the I-profile rod 2514 according to an aspect of the present description. The horizontal geometry axis 9702 represents the time t (s) that an I-shaped rod takes to pass through a staple cartridge. The vertical geometric axis 9704 represents the firing force F (N). The graphical representation shows three force curves for firing separated as a function of time. A first force curve for firing 9712 represents a rod with an I-profile 2514 (Figure 14) that passes through the thin fabric 9306 at a rapid speed and reaches a maximum firing force F1 at the top of the 9506 ramp (Figure 16B) at t1. In one example, a fast traverse speed for the 2514 I-shaped rod is ~ 30 mm / s. A second firing force curve 9714 represents a rod with an I-profile 2514 that passes through a medium fabric 9308 at an average speed and reaches a maximum firing force F2 at the top of ramp 9506 at t2, which is greater than t1. In one example, a fast traverse speed for the 2514 I-shaped rod is ~ 12 mm / s. A third firing force curve 9716 represents a 251 I-shaped rod that passes through a thick fabric 9710 at a slow speed and achieves a maximum firing force F3 at the top of ramp 9706 at t3, which is greater than t2. In one example, a slow traverse speed for the 2514 I-shaped rod is ~ 9 mm / s.
[00150] [00150] Figure 20 is a logic flow diagram of a 9800 process that represents a control program or a logical configuration for controlling the command speed at an initial trigger stage according to an aspect of the present description. With reference also to Figures 14 and 16 to 20, the control circuit 2510 determines 9402 the reference position of the displacement member, such as the I-profile rod 2514, for example, based on the position information provided by the position sensor 2534. In the example of I-profile rod 2514, the reference position is the proximal or stationary position 9502 at the bottom of the closing ramp 9506 as shown in Figure 16B. When the reference position is determined 9802, control circuit 2510 and motor control 2508 adjust the control speed of motor 2504 to a predetermined control speed Vo and initiate 9804 the trip of the travel member (for example, rod with profile in I 2514) at the predetermined control speed Vo for the initial or base zone Zo. In one example, the initial predetermined command speed Vo is ~ 12 mm / s, however, another initial predetermined command speed Vo can be employed. Control circuit 2510 monitors 9806 the position of the displacement member with position information received from the position sensor 2534 over a predetermined time interval T0 and records the actual displacement δ0 of the displacement member at the end of the time interval T0- as shown in Figure 16B. The default offset X0 is the expected offset of the offset member that travels at the current set command speed V0. The deviation between the actual displacement δ0 and the predetermined displacement X0 is due, at least in part, to external influences that act on the displacement member, such as the thickness of tissue acting on the cutting edge 2509 of the I-shaped profile 2514 .
[00151] [00151] With the timing information received from the timer / counter circuit 2531 and the position information received from the position sensor 2534, the control circuit 2510 measures 9808 the actual displacement δ0 of the displacement member over the time interval T0. Based on the actual displacement δ0 and the set time interval T0, control circuit 210 adjusts control speed V1 for the first zone Z1 9810. As shown in Table 1, multiple zones can be defined for staple cartridges of various sizes. Other zones, however, can be defined. The control circuit 2510 adjusts the control speed V1 for the first zone Z1 9810 by comparing 9812 the actual displacement δ0 to values stored in memory, such as, for example, stored in a query table (LUT). In one example, as generically indicated in Table 4 and as a specific example in Table 5, if the actual displacement δ0 traveled by the displacement member over the fixed time interval T0 (s) of 0.8 s is greater than 10 mm, the control speed for the first zone Z1 is then set to 9814 as FAST (for example, 30 mm / s). Otherwise, if the actual displacement δ0 of the displacement member over the fixed time interval T0 (s) of 0.8 s is less than or equal to 10 mm, the control speed for the first zone Z1 is then 9816 is set to AVERAGE (for example, 12 mm / s). Subsequently, control circuit 2510 checks 9818 for locks and stops 9820 for motor 2504 if there is a blocking condition. Otherwise, the control circuit enters 9822 in the dynamic trigger phase, as described below, in relation to the 9850 process in Figure 21.
[00152] [00152] Figure 21 is a logic flow diagram of a 9850 process that represents a control program or a logical configuration for controlling the command speed in a dynamic trigger stage according to an aspect of the present description. With reference to Figures 14 and 16 to 20, the control circuit 2510 adjusts 9852 to the initial command speed V 1 of the motor 2504 for the first zone Z1 based on the displacement δ 0 of the displacement member over the adjusted initial time interval T 0, as described in reference to process 9800 in Figure 20. As the displacement member passes through the staple cartridge 2518, the control circuit 2510 receives the position of the displacement member from the position sensor 2534 and the timing information of the timer / counter circuit 2531 and monitors 9854 the position of the displacement member in a zone Z n over the predefined set time interval Tn. At the end of zone Z n, control circuit 2510 measures 9856 the actual displacement δn of the displacement member over the predefined time interval Tn as displacement member 2514 moves from the beginning of the Zn zone to the end of the zone Z ne compares 9858 the actual displacement δn to a predetermined displacement X n for a specific zone, as shown generically in Table 2 and as a specific example in Table 3. The index Xn is the expected displacement of the displacement member that travels at speed current set command voltage V n. The deviation between the actual displacement δn and the predetermined displacement X n is due, at least in part, to external influences that act on the displacement member, such as the thickness of tissue acting on the cutting edge 2509 of the I-shaped stem 2514.
[00153] [00153] For example, with reference to Table 3, the distance traveled by the displacement member through a zone at a specific command speed over a set time interval Tn is provided for several dynamic firing zones. For example, if the dynamic firing zone is Z 1 (T1 = 0.4 s in duration) and the actual displacement δ n <4 mm, the control speed for the next Z 2 zone is set to FAST; If the actual displacement 4 <δn <5 mm, the control speed for the next zone Z 2 is set to AVERAGE; and if the actual displacement δn> 5 mm, the control speed for the next zone Z 2 is set to SLOW.
[00154] [00154] If, however, the dynamic firing zone is an intermediate zone Z2 to Z5 (T = 0.8 s in duration), for example, located between the first zone Z1 and the last zone Z6 and if the actual displacement δn
[00155] [00155] Finally, if the dynamic firing zone is the last measured zone Z5 (T = 0.8 s in duration) and the actual displacement δ n <7 mm, the control speed for the last zone Z6 is set to FAST ; If the actual displacement 7 <δn <9 mm, the control speed for the next zone Z6 is set to AVERAGE; and if the actual displacement δn> 9 mm, the control speed for the next zone Z6 is set to SLOW. Other parameters can be used not only to define the dynamic firing zones, but also to define the travel time for a zone at a specified command speed for several dynamic firing zones.
[00156] [00156] Based on the results of the comparison algorithm 9858, the control circuit 2510 will continue the process 9850. For example, if the results of comparison 9858 indicate that the real speed (FAST, MEDIUM, SLOW) in the previous zone Zn is equal the previous command speed V1 (FAST, MEDIUM, SLOW), the control circuit 2510 maintains 9860 the command speed for the next zone Zn + 1 equal to the previous command speed. The 9850 process continues to monitor 9854 the position of the displacement member along the next predefined zone Zn + 1. At the end of the next Zn + 1 zone, control circuit 2510 measures 9856 the actual displacement δn + 1 of the displacement member over the predetermined time interval Tn + 1 as it moves from the beginning of the next Zn + 1 zone to the end next zone Zn1 and compares 9858 the actual displacement δn + 1 to a predetermined displacement Xn + 1 for a specific zone, as shown generically in Table 2 and as a specific example in Table 3. If there are no necessary changes to the command speed, the process 9850 until the displacement member, for example, the I-profile rod 2514, reaches the end of the travel 9866 and the displacement member 9868 returns to the reference position 9502.
[00157] [00157] If the results of the 9858 comparison indicate that the actual speed (FAST, AVERAGE, SLOW) in the previous zone Zn is different from the previous control speed V 1 (FAST, AVERAGE, SLOW), the 2510 control circuit resets 9862 or updates the command speed to new V for the next Zn + 1 zone according to the algorithm summarized in Tables 2 and 3. If the command speed is reset to 9862 or updated, control circuit 2510 maintains 9864 command speed V new for an additional Zn + 2 zone. In other words, at the end of the next zone Z n + 1, the control circuit 2510 does not evaluate or measure the displacement. The 9850 process continues to monitor 9854 the position of the displacement member along the next predefined zone Z n + 1 until the displacement member, for example, the I-shaped profile 2514, reaches the end of travel 9866 and returns 9868 the displacement member to reference position 9502.
[00158] [00158] The functions or processes 9800, 9850 described here can be performed by any of the processing circuits described here, such as control circuit 700 described together with Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described together with Figures 10 and 12 and / or the control circuit 2510 described in Figure 14.
[00159] [00159] The aspects of the motorized surgical instrument can be practiced without the specific details described in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These 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.
[00160] [00160] 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.
[00161] [00161] 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 described here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, 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.
[00162] [00162] The mechanisms of the subject described can be distributed as a program product in a variety of ways, and an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission media used to effectively perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: recordable type media such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, computer memory, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[00163] [00163] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form described. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with various modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00164] [00164] Various aspects of the subject described in this document are defined in the following numbered examples:
[00165] [00165] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer circuit being configured to measure the elapsed time; the control circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an adjusted time interval; measure the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the adjusted time interval at a command speed adjusted for the current zone ; and adjusting a driving speed of the displacement member for a subsequent zone based on the measured displacement of the displacement member within the current zone.
[00166] [00166] Example 2. Surgical instrument of Example 1, where the control circuit is configured to: determine the adjusted time interval in which the displacement member is located, the adjusted time interval being defined by an initial position and a final position; and measuring the displacement of the displacement member at the end time of the adjusted time interval.
[00167] [00167] Example 3. Surgical instrument of Examples 1 and 2, the control circuit being configured to compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit. and determine whether to adjust or maintain the command speed for the current zone based on the comparison.
[00168] [00168] Example 4. Surgical instrument of Example 3, the control circuit being configured to adjust the command speed for the subsequent zone equal to the command speed of the current zone when the measured displacement is within a range of predetermined displacements .
[00169] [00169] Example 5. Surgical instrument of Examples 3 and 4, the control circuit being configured to adjust the command speed for the subsequent zone different from the command speed of the current zone when the measured displacement is outside a range of indexes.
[00170] [00170] Example 6. Surgical instrument of Example 5, the control circuit being configured to ignore a displacement measurement for a subsequent zone when the control speed is adjusted.
[00171] [00171] Example 7. Surgical instrument from Examples 1 to 6, with multiple zones defined for a staple cartridge configured to operate with the surgical instrument.
[00172] [00172] Example 8. Surgical instrument of Example 7, with at least two zones having different lengths.
[00173] [00173] Example 9. Surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the control circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an initial adjusted time interval; measuring the displacement of the displacement member from a stationary position to a distal position during the initial adjusted time interval; and adjusting a displacement member control speed for a first dynamic zone based on the measured displacement from the stationary position to the distal position.
[00174] [00174] Example 10. Surgical instrument of Example 9, the control circuit being configured to compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit.
[00175] [00175] Example 11. Surgical instrument of Example 10, the control circuit being configured to adjust the control speed for the initial zone to a first speed when the measured displacement is within a first displacement range and to adjust the speed command for the initial zone at a second speed when the measured time is within a second travel range.
[00176] [00176] Example 12. Surgical instrument from Examples 9 to 11, the control circuit being configured to determine a motor lock and stop condition.
[00177] [00177] Example 13. Method of motor speed control in a surgical instrument, the surgical instrument comprising a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor coupled to the limb of displacement to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member, a timer circuit coupled to the control circuit control, the timer circuit being configured to measure the elapsed time, the method comprising: receiving, by means of a position sensor, a position of a displacement member within a current predefined zone defined by a predetermined distance; measure, by means of the control circuit, the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the time interval adjusted to a command speed set for the current zone; and adjusting, by means of the control circuit, a command speed of the displacement member for a subsequent zone based on the displacement measured in the current zone.
[00178] [00178] Example 14. Method of Example 13 which further comprises: determining, by means of the control circuit and the timer circuit, the adjusted time interval in which the displacement member is located, the adjusted time interval being defined for an initial time and an end time; measure, by means of the timer circuit, the displacement of the displacement member in the final time of the adjusted time interval.
[00179] [00179] Example 15. Method of Examples 13 and 14 which further comprises: comparing, through the control circuit, the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; and determine, through the control circuit, the possibility to adjust or maintain the command speed for the current zone based on the comparison.
[00180] [00180] Example 16. Method of Example 15 which further comprises adjusting, by means of the control circuit, the control speed for the subsequent zone equal to the control speed of the current zone when the measured displacement is outside a range of displacements predetermined.
[00181] [00181] Example 17. Method of Examples 15 and 16 which further comprises adjusting, by means of the control circuit, the control speed for the subsequent zone other than the control speed of the current zone when the measured displacement is out of range of indexes.
[00182] [00182] Example 18. Method of Example 17 which further comprises ignoring, by means of the control circuit, a displacement measurement for a subsequent zone when the control speed is adjusted.
[00183] [00183] Example 19. Method of Examples 13 to 18 which further comprises the definition, by means of the control circuit, of multiple predefined zones for a staple cartridge configured to operate with the surgical instrument.
[00184] [00184] Example 20. Method of Example 19 which further comprises the definition, by means of the control circuit, of at least two zones having different lengths.

权利要求:
Claims (20)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument over a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer circuit being configured to measure the elapsed time; the control circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an adjusted time interval; measure the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the adjusted time interval at a command speed adjusted for the current zone ; and defining a command speed of the displacement member for a subsequent zone based on the measured displacement of the displacement member within the current zone.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to:
determining the adjusted time interval in which the displacement member is located, the adjusted time interval being defined by an initial time and an end time; and measuring the displacement of the displacement member at the end time of the adjusted time interval.
[3]
3. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to: compare the measured displacement with a predetermined displacement stored in a memory coupled to the control circuit; and determine whether to adjust or maintain the command speed for the current zone based on the comparison.
[4]
4. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to adjust the command speed for the subsequent zone equal to the command speed of the current zone when the measured displacement is within a range predetermined number of displacements.
[5]
5. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to adjust the control speed for the subsequent zone different from the control speed of the current zone when the measured displacement is out of range of indexes.
[6]
6. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is configured to ignore a displacement measurement for a subsequent zone when the control speed is adjusted.
[7]
7. Surgical instrument, according to claim 1, characterized by the fact that multiple zones are defined for a staple cartridge configured to operate with the surgical instrument.
[8]
8. Surgical instrument, according to claim 7, characterized by the fact that at least two zones have different lengths.
[9]
9. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument along a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, the timer / counter circuit being configured to measure the elapsed time; the circuit being configured to: receive, from the position sensor, a position of the displacement member in a current zone during an initial set time interval; measuring the displacement of the displacement member from a stationary position to a distal position during the initial adjusted time interval; and adjusting a driving speed of the displacement member for a first dynamic zone based on the measured displacement from the stationary position to the distal position.
[10]
10. Surgical instrument, according to claim 9, characterized by the fact that the control circuit is configured to compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the control circuit is configured to adjust the control speed for the initial zone to a first speed when the measured displacement is within a first displacement range and adjust the control speed for the initial zone to a second speed when the measured time is within a second travel range.
[12]
12. Surgical instrument, according to claim 9, characterized by the fact that the control circuit is configured to determine a locking condition and stop the engine.
[13]
13. Method for controlling the speed of the motor in a surgical instrument, the surgical instrument comprising a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member, a timer circuit coupled to the control circuit, being that the timer circuit is configured to measure the elapsed time, the method being characterized by the fact that it comprises: receiving, by means of a position sensor, a position of a displacement member within a predefined current zone defined by a predetermined distance; measure, by means of the control circuit, the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, the measured displacement being defined as the distance traveled by the displacement member during the time interval adjusted to a command speed set for the current zone; and adjusting, by means of the control circuit, a command speed of the displacement member for a subsequent zone based on the displacement measured in the current zone.
[14]
14. Method, according to claim 13, characterized by the fact that it additionally comprises: determining, by means of the control circuit and the timer circuit, the adjusted time interval in which the displacement member is located, the interval being set time is defined by a start time and an end time; measure, by means of the timer circuit, the displacement of the displacement member in the final time of the adjusted time interval.
[15]
15. Method, according to claim 13, characterized by the fact that it additionally comprises: comparing, through the control circuit, the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; and determine, through the control circuit, the possibility to adjust or maintain the command speed for the current zone based on the comparison.
[16]
16. Method according to claim 15, characterized by the fact that it additionally comprises the adjustment, by means of the control circuit, of the command speed for the subsequent zone equal to the command speed of the current zone when the measured displacement is within of a range of indexes.
[17]
17. Method according to claim 15, characterized by the fact that it additionally comprises the adjustment, by means of the control circuit, of the control speed for the subsequent zone different from the control speed of the current zone when the measured displacement is outside of a range of indexes.
[18]
18. Method according to claim 17, characterized in that it additionally comprises ignoring, by means of the control circuit, a displacement measurement for a subsequent zone when the control speed is adjusted.
[19]
19. Method, according to claim 13, characterized by the fact that it additionally comprises the definition, by means of the control circuit, of multiple predefined zones for a staple cartridge configured to operate with the surgical instrument.
[20]
20. Method according to claim 19, characterized in that it additionally comprises the definition, by means of the control circuit, of at least two predefined zones having different lengths.

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同族专利:

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公开号 | 公开日

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EP3417799A1|2018-12-26|

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EP3884878A1|2021-09-29|

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CN110785135A|2020-02-11|

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EP3417799B1|2021-01-20|

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WO2018234884A1|2018-12-27|

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JP2020524562A|2020-08-20|

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US20180360473A1|2018-12-20|

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,067|2017-06-20|

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US15/628,067|US20180360473A1|2017-06-20|2017-06-20|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval|

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PCT/IB2018/053431|WO2018234884A1|2017-06-20|2018-05-16|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval|

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