systems and methods for controlling the motor speed of a surgical stapling and cutting instrument ac

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member, a motor, a control circuit and a position sensor. The displacement member is configured to move. The motor is coupled to the displacement member to move the displacement member. The control circuit is coupled to the motor. A position sensor is coupled to the control circuit. The position sensor is configured to measure the position of the displacement member and to measure an articulation angle of an end actuator with respect to a longitudinally extending drive axis. The control circuit is configured to determine the pivot angle between the end actuator and the longitudinally extending drive shaft and adjust the motor speed based on the pivot angle.
公开号:BR112019027206A2
申请号:R112019027206-2
申请日:2018-05-16
公开日:2020-06-30
发明作者:Frederick E. Shelton Iv；David C. Yates；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed to staple and cut 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 the predetermined position intervals of the displacement member or by measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the speed of the cutting member during a firing stroke to take tissue conditions into account. 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 may 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 articulation speed than the standard articulation speed in one or more regions within a sweep range of the end actuator.
[003] [003] During the use of a motorized surgical cutting and stapling instrument, it is possible that the force to fire or load the cutting or firing member varies or increases based on the articulation angle of the end actuator. Therefore, it may be desirable to vary the firing speed of the cutting member or firing member as a function of the angle of articulation of the end actuator to reduce the force to fire the load on the cutting member or firing member due a function of increasing the articulation angle of the end actuator. SUMMARY OF THE INVENTION
[004] [004] In one aspect, the present invention provides a surgical instrument. The surgical instrument comprises a displacement member configured to transfer; a motor coupled to a proximal end of the displacement member to translate the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member and configured to measure an articulation angle of an end actuator in relation to a drive shaft that extends longitudinally; where the control circuit is configured to: determine the articulation angle between the end actuator and the longitudinally extending drive axis; select a limit force based on the pivot angle; adjust the engine speed based on the pivot angle; determine the force on the displacement member and adjust the engine speed when the force on the displacement member is greater than the limit force.
[005] [005] In another aspect, the surgical instrument comprises: a displacement member configured to transfer; a motor coupled to the displacement member to translate the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member in relation to an end actuator and is configured to measure an articulation angle of the end actuator with respect to a longitudinally extending drive shaft; where the control circuit is configured to: determine the pivot angle between the end actuator and the longitudinally extending drive shaft and adjust the motor speed based on the pivot angle.
[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 transfer, an engine coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor and a position sensor coupled to the control circuit, the position sensor configured to measure the position of the displacement member and configured to measure an articulation angle of a end actuator in relation to a longitudinally extending drive shaft, in which the method comprises: determining, by means of the control circuit, an angle of articulation between the end actuator and the longitudinally extending drive shaft ; and define, through the control circuit, the motor speed based on the articulation angle. FIGURES
[007] [007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[008] [008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axes operationally coupled to it, according to an aspect of the present description.
[009] [009] Figure 2 is an exploded view of a portion of the surgical instrument of Figure 1, in accordance with an aspect of the present description.
[0010] [0010] Figure 3 is an exploded assembled view of portions of the interchangeable drive shaft assembly, in accordance with an aspect of the present description.
[0011] [0011] Figure 4 is an exploded view of an end actuator of the surgical instrument of Figure 1, according to an aspect of the present description.
[0012] [0012] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of Figure 1, which comprises two drawing sheets, according to one aspect of the present description.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly and the feeding assembly and the handle assembly and the interchangeable drive shaft assembly. according to one 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, in which the absolute positioning system comprises a motor-controlled drive circuit arrangement comprising a sensor arrangement, according to one aspect of the present description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor arrangement of an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor arrangement, according to an aspect of the present description.
[0019] [0019] Figure 12 is a diagram of a position sensor that comprises a magnetic rotating 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, showing a course of the firing member in relation to the tissue trapped within the end actuator according to 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 the displacement member according to an aspect of the present description.
[0022] [0022] Figure 15 illustrates a diagram showing two examples of displacement member courses performed in accordance with an aspect of the present description.
[0023] [0023] Figure 16 is a partial perspective view of a portion of a surgical instrument end actuator showing an elongated drive shaft assembly in a non-articulated orientation with portions omitted for clarity , in accordance with an aspect of the present description.
[0024] [0024] Figure 17 is another perspective view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, in accordance with an aspect of the present description.
[0025] [0025] Figure 18 is an exploded perspective view of the end actuator of Figure 16 showing the aspect of the elongated drive shaft assembly, according to an aspect of the present description.
[0026] [0026] Figure 19 is a top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a non-articulated orientation, according to an aspect of the present description.
[0027] [0027] Figure 20 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a first articulated orientation, according to an aspect of the present description.
[0028] [0028] Figure 21 is another top view of the end actuator of Figure 16 showing the elongated drive shaft assembly in a second articulated orientation, according to an aspect of the present description.
[0029] [0029] Figure 22 is a graph of a rate (speed) of the displacement member as a function of the articulation angle of the end actuator, according to one or more aspects of the present description.
[0030] [0030] Figure 23 is a graph of a force of the displacement member as a function of the displacement of the firing stroke of the displacement member, according to one or more aspects of the present description.
[0031] [0031] Figure 24 is a graph of a strength of the
[0032] [0032] Figure 25 is a graph of a displacement limb rate as a function of displacement of the displacement limb linear displacement stroke, according to one or more aspects of the present description.
[0033] [0033] Figure 26 is a logic flow diagram representing a process of a control program or a logical configuration to control the rate of a displacement member as an i-beam beam member based on an angle of articulation of the end actuator, according to one or more aspects of this description.
[0034] [0034] Figure 27 is a logic flow diagram representing a process of a control program or a logical configuration to control the rate of a displacement member as a member of the beam with an i-profile based on an angle of articulation of the end actuator, according to one or more aspects of this description. DESCRIPTION
[0035] [0035] The applicant for the present application holds the following patent applications filed simultaneously with the present and which are each incorporated by reference in their respective totalities:
[0036] [0036] power of attorney document END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, by the inventors Frederick E. Shelton, IV et al., Deposited on 20 June 2017.
[0037] [0037] n ° of the power of attorney document END8192USNP / 170055,
[0038] [0038] power of attorney document END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLA- CEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CU-TTING INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Deposited on 20 June 2017.
[0039] [0039] power of attorney document END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT, by the inventors Frederick E. Shelton, IV et al., Deposited on June 20, 2017 .
[0040] [0040] power of attorney document END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0041] [0041] n ° of the power of attorney document END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELO-
[0042] [0042] power of attorney document END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLA- CEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Deposited on 20 June 2017 .
[0043] [0043] n ° of the power of attorney document END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTI-
[0044] [0044] power of attorney document END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Deposited on 20 June 2017.
[0045] [0045] power of attorney document END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, by inventors Raymond E. Parfett et al., Filed on June 20, 2017.
[0046] [0046] n ° of the power of attorney document END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE-
[0047] [0047] n ° of the power of attorney document END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0048] [0048] power of attorney document END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0049] [0049] n ° of the power of attorney document END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0050] [0050] power of attorney document END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by investors Jason L. Harris et al., Filed on June 20, 2017.
[0051] [0051] power of attorney document END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUCTION, by the inventors Jason L. Harris et al., Filed on 20 June 2017.
[0052] [0052] n ° of the power of attorney document END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE-
[0053] [0053] The applicant for the present application holds the following US design patent applications filed simultaneously with him and which are each incorporated herein by reference in their respective totalities:
[0054] [0054] power of attorney document 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.
[0055] [0055] power of attorney document END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR
[0056] [0056] power of attorney document 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.
[0057] [0057] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the revealed devices and methods. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0058] [0058] The terms "proximal" and "distal" refer to a doctor manipulating the handle of the surgical instrument where "proximal" refers to the portion closest to the doctor and "distal" refers to the portion located in the most away from the doctor. For convenience, the spatial terms "vertical", "horizontal", "above" and "below" used in relation to the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0059] [0059] 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 into a natural orifice or into an incision or perforation formed in tissues. The functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or into an access device that has a working channel through which the end actuator and the elongated drive shaft of an instrument surgical can be advanced.
[0060] [0060] Figures 1 to 4 show a surgical instrument powered by motor 10 to cut and secure, which may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 comprising a handle assembly 14 that is configured to be picked up, handled and actuated by the physician. Compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in conjunction with robotically controlled surgical systems. In this way, the term "compartment" can also cover 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 movement of control that can be used to drive the interchangeable drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. Interchangeable drive shaft assemblies can be used with various robotic systems, instruments, components and methods disclosed in US Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DE- PLOYMENT ARRANGEMENTS", which it is hereby incorporated by reference, in its entirety.
[0061] [0061] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operatively coupled to it, in accordance with an aspect of the present description. Enclosure 12 includes an end actuator 300 that comprises a surgical cutting and clamping device configured to operationally support a 304 surgical clamp cartridge inside. Enclosure 12 can be configured for use in conjunction with sets of interchangeable drive shafts that include end actuators that are adapted to support different sizes and types of clamp cartridges that have different lengths, sizes and types of drive shafts. Enclosure 12 can be used with a variety of interchangeable drive shaft assemblies, including assemblies configured to apply other motions and forms of energy, such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements. extremities adapted for use in conjunction with various applications and surgical procedures. End actuators, drive shaft assemblies, handles, surgical instruments and / or surgical instrument systems can use any fastener or fasteners suitable for fastening 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.
[0062] [0062] The handle assembly 14 may comprise a pair of interconnectable segments of the handle compartment 16 and 18 interconnected by screws, press-fit elements, adhesive, etc. The grip compartment segments 16, 18 cooperate to form a portion of the pistol grip
[0063] [0063] Figure 2 is an exploded view of a portion of the surgical instrument 10 of Figure 1, in accordance with an aspect of the present description. The handle assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" 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 enable the closing trigger 32 to be manipulated by a doctor. When the physician wields the pistol grip portion 19 of the handle assembly 14, the closing trigger 32 can rotate from an initial or "not acted" position to an "acted" position and, more particularly, to a fully compressed or fully actuated position.
[0064] [0064] The grip handle 14 and the frame 20 can operationally support a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly that is attached to it . The firing drive system 80 can employ an electric motor 82 located in the pistol handle portion 19 of the handle assembly 14. Electric motor 82 can be a brushed DC DC motor having a maximum rotational speed 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 source 90 which can comprise a removable battery 92. The removable battery 92 can comprise a proximal compartment portion 94 configured to be attached to a distal compartment portion 96. A the proximal compartment portion 94 and the distal compartment portion 96 are configured to operationally support a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery (LI) or other suitable battery. The portion of distal compartment 96 is configured for removable operational fixation to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can supply the surgical instrument 10. In addition, the Power source 90 can be replaceable and / or rechargeable. A screen 43, which is located below the cover 45, is electrically coupled to the control circuit board 100. The cover 45 can be removed to expose the screen 43.
[0065] [0065] The electric motor 82 can include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reduction set 84, which is mounted on coupling coupling with a set or rack, of teeth drive 122 on a longitudinally movable drive member
[0066] [0066] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, where the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "PD". 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 source 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.
[0067] [0067] 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 pivoted between an unacted position and an acted position .
[0068] [0068] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 that comprises an elongated channel 302 that is configured to support operatively inside a surgical staple cartridge 304. The end actuator 300 may include an anvil 306 which is pivotally supported in relation to the elongated channel 302. The drive shaft assembly 200 may comprise an articulated joint 270. The construction and operation of the end actuator end 300 and articulated joint 270 are shown in US Patent Application Publication No. 2014/0263541, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK ", which is hereby incorporated by reference in its entirety. interchangeable drive 200 may include a proximal compartment or nozzle 201 comprised of nozzle portions 202,
[0069] [0069] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the previously mentioned reference of the Publication of Patent Application No. 2014/0263541 Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the mustache, the closing tube 260 of the drive shaft is moved to its proximal position.
[0070] [0070] Figure 3 is another exploded assembled view of portions of the interchangeable drive shaft assembly 200, according to an aspect of the description. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 for axial displacement within the back 210. The firing member 220 includes an intermediate firing shaft 222 configured for if attached to a distal cutting portion or cutting bar 280. The firing member 220 can also be called "second drive shaft" and / or "second drive shaft set". The intermediate firing drive shaft 222 can include a longitudinal slot 223 at its distal end configured to receive a flap 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be sized and configured to enable relative movement between them and may comprise a sliding joint
[0071] [0071] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a collar or sleeve locking 402 positioned around the firing member 220, where the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 couples the pivoting actuator 230 to the firing member 220, and a disengaged position.
[0072] [0072] The interchangeable drive shaft assembly 200 may comprise a slide ring assembly 600 that can be configured to conduct electrical energy to and / or to the end actuator 300 and / or communicate signals from and / or to the end actuator 300, 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 proximal connector flange 604 may comprise a first face and the flange of the distal connector 601 may comprise a second face, which is positioned adjacent and which is 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 in which each contact corresponds to and is in electrical contact with one of the conductors 602. This arrangement allows the relative rotation between the flange of proximal connector 604 and the flange of distal connector 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 the 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 TIS-SUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US Patent Application Publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THI-CKNESS 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.
[0073] [0073] The interchangeable drive shaft assembly 200 may include a proximal portion that is securely mounted to the handle assembly 14 and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the rotary drive shaft portion. distal.
[0074] [0074] Figure 4 is an exploded view of an aspect of an actuator
[0075] [0075] The beam with i-profile 178 may include upper pins 180 that engage the anvil 306 during firing. The i-profile beam 178 can include intermediate pins 184 and a base 186 for engaging portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the i-beam beam 178 can slide through of the aligned longitudinal slits 193, 197 and 189, in which, as indicated in Figure 4, the base 186 of the beam with an i-profile beam 178 can engage with a groove positioned along the lower surface of the elongated channel 302 along the length of the 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
[0076] [0076] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1, which comprises two drawing sheets, according to an aspect of the present description. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In various ways, the motor 714 can be a brushed DC DC motor, having 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" - field-effect transistors) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle set 200 to supply control energy to the surgical instrument 10. The supply set 706 may comprise a battery which may include several battery cells connected in series, which can be used as the power source to power the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack can 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 supply.
[0077] [0077] The drive shaft assembly 704 may include a controller of the drive shaft assembly 722 that can communicate with the safety controller and the power management controller 716 through an interface, while the assembly drive shaft 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 assembly electrical connectors corresponding drive shaft, and a second portion of interface 727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply, to enable electrical communication between the controller of the power supply drive shaft 722 and power management controller 716 while drive shaft assembly 704 and the assembly the power supply 706 are coupled to the handle assembly
[0078] [0078] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 resident in the grip set 702, for example. In other cases, the interface can facilitate a direct line of communication 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 feeding set 706 are coupled to the handle set 702.
[0079] [0079] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex 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 integrated memory or other memory non-volatile, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB serial random access memory ("SRAM"), a memory only internal read ("ROM" - read-only memory) loaded with the program StellarisWare®, electronically erasable programmable read-only memory ("EEPROM" - electrically erasable programmable read-only memory) of 2 KB, one or more modules pulse width modulation ("PWM" - pulse width modulation), one or more analog quadrature encoder inputs ("QEI" - quadrature encoder inputs), one or more analog to digital converters ("ADC "- 12-bit analog-to-digital converters with 12 input channels analog, the details of which are available in the product data sheet.
[0080] [0080] 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 from 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 performance, connectivity and specific memory options.
[0081] [0081] 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 may be configured to modulate the battery power output based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the 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 battery power output, so the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0082] [0082] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or devices tactile feedback (eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 that may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can 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. The device output 742 can instead be integrated into the supply set 706. In these circumstances, communication between the output device 742 and the drive shaft set 722 controller can be done via the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[0083] [0083] The control circuit 700 comprises segments configured to control the operations of the energized surgical instrument
[0084] [0084] The acceleration segment (Segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The accelerometer input is used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument and / or identify when the surgical instrument was dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0085] [0085] The screen segment (Segment 4) comprises a screen connector coupled to the main controller 717. The screen connector connects the main controller 717 to a screen via one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the screen can be integrated with the screen and / or they can be located separately from the screen. The screen may comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal display (LCD) and / or any other suitable screen. In some examples, the screen segment is coupled to the security processor.
[0086] [0086] The drive shaft segment (Segment 5) comprises controls for an interchangeable drive shaft set 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for an end actuator 300 coupled to the interchangeable drive shaft 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 microcontroller with ferroelectric random access memory ("FRAM" - ferroelectric random access memory), a toggle switch, a drive shaft release switch and a PCBA EEPROM. The PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft E-PROM. The second EEPROM of the drive axis 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.
[0087] [0087] The position encoding segment (Segment 6) comprises one or more position encoders of rotating magnetic angles. The one or more rotary magnetic angle position encoders 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 examples, rotary magnetic angle position encoders can be coupled to the safety controller and / or the main controller 717.
[0088] [0088] 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 primary microcontroller processor 717 by an H bridge driver that comprises one or more H bridge field effect transistors (FETs). The H bridge actuator is also coupled to the safety controller. A motor current sensor is connected in series to the motor to measure the current drain of the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety controller. In some examples, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0089] [0089] 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 signal. (PWM), 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.
[0090] [0090] The power segment (Segment 8) comprises a battery coupled to the safety controller, the main controller 717 and the additional segments of the circuit. 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 segments of the circuit. 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 quantity, such as 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.
[0091] [0091] The plurality of keys that are coupled to the safety controller and / or the main controller 717. The keys can be configured to control 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 ejection Hall switch are configured to indicate the state of the 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 to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of a drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 (Figures 1 and 4). A reverse key on the left side 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 side of the joint, the key on the right side of the joint for the left side, the central articulation key for the left side and the reverse key for the left side are coupled to the main controller 717 by a flex connector on the left. The keys on the right side which comprise 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 on the right are coupled to the main controller 717 by a flex connector on the right. A trip switch, a grapple release key and a key attached to the drive shaft are coupled to the main controller
[0092] [0092] Any suitable mechanical, electromechanical or solid state keys can be used to implement the plurality of keys in any combination. For example, the keys can be limited keys operated by the movement of the 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 (MR) devices, giant magneto-resistive devices ("GMR" - giant magneto -resistive), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid-state devices, such as transistors (for example, FET, junction FET, metal oxide semiconductor FET ("MOSFET" - metal-oxide semiconductor-FET), bipolar and the like) . Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0093] [0093] Figure 6 is a block diagram of the control circuit 700 of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the shaft assembly interchangeable drive 704, according to one 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 734 which can comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The connectors of the drive shaft assembly 730, 732 form an interface - ce 727. The power management circuit 734 can be configured to modulate the battery power output 707 based on the power requirements of the exchangeable drive shaft assembly 704, while the drive shaft assembly inter - exchangeable 704 and the supply set 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from s the power supply 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 power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and the drive shaft assembly 728 for electrically coupling the drive shaft assembly connector 704 to the handle assembly.
[0094] [0094] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. These devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), audio feedback devices (for example, a speaker, a bell) or tactile feedback devices. (for example, 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 can 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 the drive device. output 742. Output device 742 can be integrated with supply set 706. Communication between output device 742 and drive shaft assembly controller 722 can be done via interface 725 while the set of interchangeable drive shaft 704 is attached to the handle assembly 702. Having described a control circuit 700 (Figures 5A and 5B and 6) to control the operation of the surgical instrument 1 0 (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.
[0095] [0095] 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. The 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. The memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of a number of single-core or multi-core (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 the memory circuit
[0096] [0096] 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.
[0097] [0097] 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 various processes described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one memory circuit 820 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive data associated with the surgical instrument 10 from an input 826, process the data through the combinational logic circuit 822 and provide an output
[0098] [0098] Aspects can be implemented in the form of an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for performing various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, a flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application-specific processor.
[0099] [0099] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises an arrangement of the motor-controlled drive circuit that it comprises a sensor arrangement 1102, in accordance with an aspect of the present description. The sensor arrangement 1102 of an 1100 absolute positioning system provides a unique position signal that corresponds to the location of a displacement member 1111. Returning briefly to Figures 2 to 4, in one aspect, displacement member 1111 represents a longitudinally movable drive member 120 (Figure 2) comprising a drive tooth rack 122 for engagement with a corresponding drive gear 86 of the gear reducer assembly 84. In other respects, the displacement member 1111 represents the trigger member 220 (Figure 3) that 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-profile beam 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 moving member of the instrument 10, such as the driving member 120, the clamping arm 220, the firing bar 172, the i-profile beam 178 or any element that can be moved. In one aspect, the longitudinally movable drive member 120 is coupled to the trigger member 220, the trigger bar 172 and the beam with an i-profile
[00100] [00100] The electric motor 1120 may include a rotary drive shaft 1116, which interfaces operationally with a gear set 1114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be operatively 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 display the output of the absolute positioning system 1100. In Figure 2, the drive member 1111 represents the longitudinally movable drive member 120 comprising a drive tooth rack 122 formed thereon for geared engagement with a corresponding drive gear 86 of the gear reduction assembly 84. The displacement member 1111 represents the longitudinally movable firing member 220, the firing bar 172, the beam with i 178 profile or combinations thereof.
[00101] [00101] A single revolution of sensor element 1126 associated with position sensor 1112 is equivalent to a longitudinal linear displacement of d1 of displacement member 1111, where d1 is the longitudinal linear distance by which displacement member 1111 moves from point "a" to point "b" after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction resulting in the completion of one or more revolutions by the position sensor 1112 of the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions of the full travel of the travel member
[00102] [00102] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of the keys 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal linear displacement d1 + d2 +… dn of the drive member 1111. The sensor output 1124 position 1112 is supplied to controller 1104. Position sensor 1112 in the 1102 sensor arrangement may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or an array of analog Hall effect elements, which emit a unique combination of position of signs or values.
[00103] [00103] The absolute positioning system 1100 provides absolute positioning of the displacement member 1111 by energizing the instrument without having to retract or advance the displacement member 1111 to a reset position (zero or initial), as may be required by 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, a drive bar, sparks, and the like.
[00104] [00104] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, controller 1104 includes a processor 1108 and memory 1106. Electric motor 1120 can be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut 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 the request for
[00105] [00105] 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 controller 1104 software. The computed response is compared to a measured response from the real 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.
[00106] [00106] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback and 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 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a video capture system. digital data in which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger calculated response in the direction to the measured response. The computed response of the physical system considers properties, such as mass, inertia, viscous friction, resistance to inductance, etc., to predict what the states and outputs of the physical system will be, knowing the input. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[00107] [00107] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with metal oxide semiconductor (MOSFET) field effect transistors. external N-channel power, 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 control input can be used to supply the voltage exceeding that supplied by the battery required for N-channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% cycle work). 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. The power FETs are protected from the shoot-through effect by means of resistors with programmable dead time. The integrated diagnosis provides 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 starters can be immediately replaced for use in the 1100 absolute positioning system.
[00108] [00108] Having described a general architecture for implementing
[00109] [00109] The sensor arrangement 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to the possibility of them measuring the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnesium resistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piezoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00110] [00110] A gear set comprises a first gear 1208 and a second gear 1210 in gear engaged to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates around a drive shaft 1214. The third gear 1212 is in engagement with shift member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the displacement member 1111 advances in a distal direction D and rotates in a second direction, as displacement member 1111 retracts in a proximal direction P. Second gear 1210 also rotates about drive axis 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the displacement member 1111. In this way, a full stroke of the displacement member 1111, in either the distal D or proximal directions P, corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. As the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 rotates with each complete stroke of displacement member 1111.
[00111] [00111] 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 inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder
[00112] [00112] Figure 12 is a diagram of a position sensor 1200 of an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, according to an aspect of this description. The position sensor 1200 can be implemented as a rotary, magnetic, single-circuit, AS5055EQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[00113] [00113] 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 here in detail, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, the Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of the magnet 1202 in terms of the angle relative to a single revolution of the magnet 1202. This angle value, which is a single position signal, is calculated by the CORDIC 1236 processor and stored integrated in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of the magnet 1202 during a revolution is supplied to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[00114] [00114] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00115] [00115] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. Angle variation can be reduced by averaging multiple angle samples in the controller
[00116] [00116] 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 beam with an i-profile 2514 in relation to the fabric 2526 trapped inside the actuator. end 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516, an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. A bar firing mechanism 2520 is translatable distally and proximally along a longitudinal geometrical axis 2515 of end actuator 2502. When end actuator 2502 is not articulated, end actuator 2502 is in line with the actuator axis instrument. An i-profile beam 2514 comprising a cutting edge 2509 is shown on a distal portion of the firing bar 2520. A wedge slide 2513 is positioned on the staple cartridge
[00117] [00117] A beam firing stroke with an exemplary i-profile 2514 is illustrated by a graphic 2529 aligned with the ex-
[00118] [00118] In the second stroke region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric 2526. In addition, the wedge slide 2513 can start to come in contact with the clamp actuators 2511 to drive clamps 2505. The force required to drive the i-beam beam 2514 may start to gradually increase. As shown, the tissue initially found can be compressed and / or thinner due to the way the anvil 2516 rotates in relation to the staple cartridge 2518. In the third region of the travel of the firing member 2521, cutting edge 2509 can continuously come into contact contact and cut the fabric 2526 and the wedge slider 2513 can repeatedly come into contact with the 2511 clamp actuators. The force necessary to drive the beam with i-profile 2514 can reach the plateau in the third region 2521. In fourth region of the firing stroke 2523, the force required to drive the beam with i 2514 profile can start to decrease. For example, the fabric in the portion of end actuator 2502 corresponding to the fourth firing region 2523 may be less compressed than the fabric closest to the pivot point of anvil 2516, requiring less force to cut. In addition, the cutting edge 2509 and the wedge slide 2513 can reach the end of the fabric 2526 while in the fourth region 2523. When the beam with i-profile 2514 reaches the fifth region 2525, the fabric 2526 can be completely separated. The wedge slide 2513 can contact one or more clip drivers 2511 at or near the end of the fabric. The force to advance the beam with an i 2514 profile through the fifth region 2525 can be reduced and, in some examples, it may be similar to the force to drive the beam with an i 2514 profile in the first region 2517. At the conclusion of the course of the firing member, the i-profile beam 2514 can reach the final position of the stroke 2528. The positioning of the stroke regions of the firing member 2517, 2519, 2521, 2523, 2525 in Figure 18 is just an example. In some examples, different regions can start at different positions along the longitudinal geometric axis of end actuator 2515, for example, based on the positioning of the fabric between the anvil 2516 and the staple cartridge 2518.
[00119] [00119] 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 system of the drive shaft assembly 1200, including the i-profile beam 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or cut the captured fabric inside the end actuator 2502. The i-profile beam 2514 can be advanced or retracted at a desired speed or within a desired speed range. Controller 1104 can be configured to control the speed of the beam with i 2514 profile. Controller 1104 can be configured to predict the speed of the beam with i 2514 profile based on various parameters of the energy supplied to the electric motor 1122, such as voltage and / or current, for example, and / or other operating parameters of the 1122 electric motor or external influences. Controller 1104 can also be configured to predict the current speed of the beam with i 2514 profile based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed. city, acceleration and / or position. Controller 1104 can be configured to detect the speed of the beam with i 2514 profile using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the i 2514 profiled beam and the detected speed of the i 2514 profiled beam to determine whether the power of the 1122 electric motor should be increased in order to increase the speed of the profiled beam in i2514 and / or decreased in order to decrease the speed of the beam with profile in i 2514. 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.
[00120] [00120] The force acting on the beam with i 2514 profile can be determined using various techniques. The force on the i-beam beam 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load on the i-beam beam 2514 as it advances distally. The strength of the beam with i 2514 profile can be determined by placing a stress meter on the drive member 120 (Figure 2), the firing member 220 (Figure 2), the beam with i 2514 profile ( beam with i-profile 178, Figure 20), firing bar 172 (Figure 2) and / or at a proximal end of cutting edge 2509. The beam with i-profile 2514 can be determined by monitoring the actual position of the beam with i 2514 profile moving at an expected speed based on the current set speed of the motor 2504 after a predetermined time period T1 has elapsed and by comparing the actual position of the beam with i 2514 profile in relation to the expected position of the beam with i-profile 2514 based on the current set speed of the engine 2504 at the end of the T1 period. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force. These techniques are described in the power of attorney document END8195USNP, which is incorporated here as a reference in its entirety.
[00121] [00121] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of the 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 beam with I-profile 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a beam with i-profile 2514 (including a sharp cutting edge 2509) and a removable staple cartridge 2518. End actuator 2502, anvil 2516, i-profile beam 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00122] [00122] The position, movement, displacement and / or translation of a linear displacement member 1111, such as the beam with i-profile 2514, can be measured by the absolute positioning system 1100, the 1102 sensor arrangement and the position sensor 1200, as shown in Figures 10 to 12 and represented as position sensor 2534 in Figure 14. As the beam with i-profile 2514 is coupled to a longitudinally movable drive member 120, the position of the beam with profile in i 2514 can be determined by measuring the position of the longitudinally movable drive member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the beam with an i-profile 2514 can be obtained by the position sensor 2534, as described in the present invention. The control circuit 2510, like the control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with i-profile 2514, as described in relation to 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 beam with i 2514 profile, 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 for correlations.
[00123] [00123] 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 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. In some examples, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulation (PWM) signal supplied to one or more windings of motor stator 2504. In addition, in some examples, the motor controller 2508 can be omitted and the control circuit 2510 can generate the motor drive signal 2524 directly.
[00124] [00124] The 2504 motor can receive power from a 2512 power supply. The 2512 power supply can be or include a battery, supercapacitor or any other suitable power source 2512. The 2504 motor can be mechanically coupled to the beam with i-profile 2514 by means of a transmission 2506. The transmission 2506 may include one or more gears or other connecting components for coupling the motor 2504 to the beam with i-profile 2514.
[00125] [00125] The control circuit 2510 can be in communication with one or more sensors 2538. The sensors 2538 can be positioned on the end actuator 2502 and adapted to work with the surgical instrument 2500 to measure the various parameters derived, as gap distance in relation to time, compression of the tissue in relation to time and deformation of the anvil in relation to time. The 2538 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as a current sensor parasites, a resistive sensor, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the actuator
[00126] [00126] The one or more 2538 sensors may comprise a stress 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 fabric 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.
[00127] [00127] 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 (Fig. 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 can 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 along the closing drive system 30 (Figure 2) to detect the closing forces applied to the 2516 anvil by the drive system. closing 30. The one or more 2538 sensors can be sampled in real time during a gripping 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 information based on time and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00128] [00128] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the beam with i-profile 2514 corresponds to the current drained by the motor
[00129] [00129] Using the physical properties of the instruments shown here, now with reference to Figures 1 to 14 and with reference to Figure 14, the 2510 control circuit can be configured to simulate the actual system response of the instrument in the software controller. A displacement member can be actuated to move an i-profile beam 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, LQR and / or an adaptive controller , for example. The 2500 surgical instrument can include a power supply to convert the signal from the resettlement controller to a physical input, such as box voltage, pulse width modulated voltage (PWM), frequency modulated voltage, current, torque and / or strength, for example.
[00130] [00130] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with i 2514 profile, by a brushed DC motor with gearbox and mechanical connections articulation system and / or knife. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00131] [00131] 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 parts illustrated in the drawings and in the description attached. The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. In addition, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it will be recognized that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more among the other aspects, expressions of aspects and / or examples described below.
[00132] [00132] 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, a 2504 motor can drive a travel member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 may comprise a 2516 pivoting anvil and, when configured for use, a staple cartridge 2518 positioned opposite the anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the instrument
[00133] [00133] In several examples, the surgical instrument 2500 may comprise a control circuit 2510 programmed to control the distal translation of the displacement member, such as the beam with i 2514 profile, for example, based on one or more conditions of the fabric. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a trigger control program 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 2510 control circuit can be programmed to move the displacement member to 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 a higher power.
[00134] [00134] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of the travel of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the stroke, the 2510 control circuit can select a trip control program. The response of the instrument may include a travel 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 circuit portion of the stroke, control circuit 2510 can modulate motor 2504, based on translation data that describes a position of the displacement member in a closed circuit manner, to translate the member travel at a constant speed.
[00135] [00135] Figure 15 illustrates a diagram 2580 showing two examples of displacement member courses performed in accordance with an aspect of the present description. Diagram 2580 comprises two axes. A horizontal axis 2584 indicates elapsed time. A vertical axis 2582 indicates the position of the beam with i-profile 2514 between an initial position of the 2586 stroke and an end position of the stroke
[00136] [00136] A first example 2592 shows a response from the surgical instrument 2500 when the thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open loop portion of the displacement limb course, for example , the initial time period between t0 and t1, the beam with i-profile 2514 can traverse from the initial position of the stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a control program trigger that advances the beam with i 2514 profile at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The 2510 control circuit can drive the beam with i-profile 2514 to Vlenta speed by monitoring the position of the beam with i-profile 2514 and modulation of the motor setpoint 2522 and / or motor drive signal 2524 to maintain Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when the thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00137] [00137] During the initial time period (for example, the open circuit period) between t0 and t1, the beam with i-profile 2514 can traverse from the initial position of the 2586 course to the 2596 position. The control circuit you can determine that position 2596 corresponds to a trigger control program that advances the travel member at a selected constant speed (Fast). As 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 beam 2514. As a result, the i-profile beam 2514 can travel a portion of the course during the initial time period. In addition, in some instances, the thinner tissue (for example, a larger portion of the displacement member of the element travel during the initial period of time) may correspond to higher velocities of the displacement member after the period of initial time.
[00138] [00138] Figures 16 to 21 illustrate an end actuator 2300 of a 2010 surgical instrument showing how the end actuator 2300 can be articulated in relation to the elongated drive shaft assembly 2200 around an articulated joint 2270, according to an aspect of the present description. Figure 16 is a partial perspective view of a portion of the end actuator 2300 showing an elongated drive shaft assembly 2200 in a non-articulated orientation, with some of its portions omitted for the sake of clarity. Figure 17 is a perspective view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200 in a non-articulated orientation. Figure 18 is an exploded perspective view of the end actuator 2300 of Figure 16 showing the elongated drive shaft assembly 2200. Figure 19 is a top view of the end actuator 2300 of Figure 16 showing the shaft assembly. elongated drive 2200 in a non-articulated orientation. Figure 20 is a top view of the 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200 in a first articulated orientation. Figure 21 is a top view of the 2300 end actuator of Figure 16 showing the elongated drive shaft assembly 2200 in a second hinged orientation.
[00139] [00139] With reference now to Figures 16 to 21, the end actuator 2300 is adapted to cut and staple fabric and includes a first claw in the form of an elongated channel 2302 that is configured to support operationally inside a cartu - floor of surgical clamps 2304. The end actuator 2300 additionally includes a second claw in the form of an anvil 2310 which is supported in the elongated channel 2302 for movement in relation to it. The elongated drive shaft assembly 2200 includes a hinge system 2800 that uses a hinge lock 2810. Hinge lock 2810 can be configured and operated to selectively lock the surgical end actuator 2300 in several hinged positions. This arrangement allows the surgical end actuator 2300 to be rotated, or articulated, in relation to the closing sleeve of the drive shaft 260, when the articulation lock 2810 is in its unlocked state. Specifically with reference to Figure 18, the elongated drive shaft assembly 2200 includes a back 210 which is configured to (1) slide a firing member 220 in its sliding way and (2) to support it. the closing sleeve 260 (Figure 16) that extends around the back 210 is slidable. The closing shaft of the drive shaft 260 is attached to a closing sleeve of the end actuator 272 which is pivotally fixed to the sleeve closing 260 by a set of closing sleeve with double articulation
[00140] [00140] The back 210 also slidably supports a proximal articulation actuator 230. The proximal articulation actuator 230 has a distal end 231 that is configured to operationally engage the articulation lock 2810. The articulation lock 2810 additionally comprises a drive shaft structure 2812 which is attached to the back 210 in the various ways disclosed herein. The drive shaft structure 2812 is configured to support a proximal portion 2821 of a distal hinge driver 2820 therein. The distal hinge driver 2820 is movably supported within the drive shaft assembly. elongated length 2200 for selective longitudinal displacement in a distal direction DD and a proximal direction PD, along a geometric axis of articulation AAA that is laterally displaced and parallel to the geometric axis SA-SA of the drive axis in response to joint control movements applied to it.
[00141] [00141] In Figures 17 and 18, the drive shaft structure 2812 includes a distal end portion 2814 that has a pivot pin 2818 formed thereon. Pivot pin 2818 is adapted to be pivotally received within a pivot hole 2397 formed in the pivot base portion 2395 of an end actuator mounting assembly 2390. The end actuator mounting set 2390 it is fixed to the proximal end 2303 of the elongated channel 2302 by means of a spring pin 2393 or equivalent. The pivot pin 2818 defines a pivot geometric axis BB transverse to the geometric axis of the SA-SA drive axis to facilitate the pivoting displacement (that is, the pivot) of the end actuator 2300 around the pivot geometric axis BB in relation to to the 2812 drive shaft structure.
[00142] [00142] As shown in Figure 18, a link pin 2825 is formed at a distal end 2823 of the distal hinge link 2820 and is configured to be received inside a hole 2904 at a proximal end 2902 of a cross link 2900. The cross link 2900 extends transversely through the geometric axis SA-SA of the drive shaft and includes a distal end portion 2906. A distal link orifice 2908 is provided through the distal end portion 2906 of the cross link 2900 and is configured to pivotally receive a 2398 base pin that extends from the bottom of the 2395 pivot base portion of the 2390 end actuator mounting assembly. The 2395 base pin defines a geometric axis of the link LA that is parallel to the geometric axis of articulation BB. Figures 17 and 20 illustrate the surgical end actuator 2300 in a non-articulated position. The geometric axis EA of the end actuator, which is defined by the elongated channel 2302, is aligned with the geometric axis SA-SA of the drive axis. The term "aligned to" can mean "coaxially aligned"
[00143] [00143] Figure 19 shows the articulated joint 2270 in a straight position, that is, at a zero angle θ0 in relation to the longitudinal direction shown as drive axis SA, according to one aspect. Figure 20 shows the articulated joint 2270 of Figure 19 articulated in a direction of at a first angle θ1 defined between the geometry axis SA of the drive axis and the geometric axis EA of the end actuator, according to one aspect. Figure 21 illustrates the articulated joint 2270 of Figure 19 articulated in another direction at a second angle θ2 defined between the geometric axis SA of the acid axis
[00144] [00144] The surgical end actuator 2300 in Figures 16 to 21 comprises a surgical cutting and stapling device that uses a trigger member 220 among the various types and configurations described here. However, the 2300 surgical end actuator may comprise other forms of surgical end actuators that do not cut and / or staple tissue. An intermediate support member 2950 is pivotally and slidably supported in relation to the back 210. In Figure 18, the intermediate support member 2950 includes a slot 2952 that is adapted to receive a 2954 pin inside it. it projects from the back 210. This allows the intermediate support member 2950 to rotate and translate in relation to the pin 2954, when the surgical end actuator 2300 is articulated. A pivot pin 2958 protrudes from the underside of the intermediate support member 2950 to be received in an articulated manner within a corresponding pivot hole 2399 provided in the base portion 2395 of the end actuator mounting set 2390. The intermediate support member 2950 additionally includes a slot 2960 for receiving a firing member 220 through it. The intermediate support member 2950 serves to provide lateral support to the firing member 220 as it flexes to accommodate the articulation of the surgical end actuator 2300.
[00145] [00145] The surgical instrument can additionally be configured to determine the angle at which the 2300 end actuator is oriented. In various embodiments, the position sensor 1112 of the 1102 sensor array can comprise one or more magnetic sensors, analog rotary sensors (such as a potentiometer), analog Hall sensor arrays, which emit a unique combination of signals or values, among others, for example. In one aspect, the pivot joint 2270 of the aspect shown in Figures 16 to 21 can additionally comprise an arrangement of the pivot sensor that is configured to determine the angular position, i.e. pivot angle, of the end actuator 2300 and provide a signal single position corresponding to it.
[00146] [00146] The articulation sensor arrangement can be similar to the 1102 sensor arrangement described above and illustrated in Figures 10 to
[00147] [00147] In another aspect, the surgical instrument is configured to determine the angle at which the end actuator 2300 is positioned indirectly by monitoring the absolute position of the articulation actuator 230 (Figure 3). As the position of the pivot actuator 230 corresponds to the angle at which the end actuator 2300 is oriented in a known manner, the absolute position of the pivot actuator 230 can be traced and then
[00148] [00148] The arrangement of the joint sensor in this aspect may similarly be similar to the arrangement of sensor 1102 described above and illustrated in Figures 10 to 12. In a similar aspect to the aspect illustrated in Figure 10 in relation to the limb displacement 1111, the articulation sensor arrangement comprises a position sensor and a magnet that rotates once for each complete stroke of the longitudinally movable articulation driver 230. The position sensor comprises one or more magnetic detection elements, such as Hall effect, and is positioned close to the magnet. Consequently, as the magnet rotates, the magnetic sensing elements of the position sensor determine the absolute angular position of the magnet during a revolution.
[00149] [00149] In one aspect, a single revolution of the sensor element associated with the position sensor is equivalent to a longitudinal linear displacement d1 of the longitudinally movable articulation trigger 230. In other words, d1 is the longitudinal linear distance by which the longitudinally movable articulation drive 230 moves from point "a" to point "b" after a single revolution of a sensor element coupled to the longitudinally movable articulation driver 230. The arrangement of the articulation sensor can be connected by means of a gear reduction that results in the position sensor completing only a single revolution of the full stroke of the longitudinally movable articulation driver 230. In other words, d1 can be equal to the full stroke of the articulation driver 230. The position sensor is configured to then transmit a single position signal corresponding to the absolute position of the hinge actuator 230 to controller 1104, as n those aspects represented in Figure 10 upon receipt of a single position signal, controller 1104 is then configured to execute logic to determine the angular position of the end actuator corresponding to the linear position of the articulation actuator 230 , for example, by consulting a look-up table that returns the value of the pre-calculated angular position of the end actuator 2300, calculating by means of an algorithm the angular position of the end actuator 2300 using the linear position of the actuator. articulation controller 230 as input, or performing any other method as is known in the art.
[00150] [00150] In various aspects, any number of magnetic detection elements can be used in the arrangement of the articulation sensor, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The number of magnetic detection elements used corresponds to the desired resolution to be detected by the arrangement of the articulation sensor. In other words, the greater the number of magnetic detection elements used, the greater the degree of articulation that can be detected by the arrangement of the articulation sensor. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anti-magnetoresistance.
[00151] [00151] In one aspect, the position sensor of the various aspects of the articulation sensor arrangement can be implemented in a manner similar to the positioning system illustrated in Figure 12 to track the position of the 1111 displacement member. In one aspect, the arrangement of the articulation sensor can be implemented as an AS5055EQFT single integrated circuit magnetic rotary position sensor, available from Austria Microsystems, AG. The position sensor interfaces with the controller to provide an absolute positioning system to determine the absolute angle position of the 2300 end actuator, either directly or indirectly. The position sensor is a low voltage and low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in an area 1230 of the position sensor 1200 located above magnet 1202 (Figure 11). A high-resolution A-D converter 1232 and an intelligent power management controller 1238 are also featured on the integrated circuit. A 1236 CORDIC (Coordinate Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit shift and lookup table operations. 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 resolution
[00152] [00152] With reference to Figures 1 to 4 and 10 to 21, the position of the articulated joint 2270 and the position of the beam with i-profile 178 (Figure 4) can be determined with the absolute position feedback value / signal of the absolute positioning system 1100. In one aspect, the articulation angle θ can be determined with reasonable precision based on the driving member 120 of the surgical instrument 10. As described above, the movement of the longitudinally movable driving member 120 (Figure 2 ) can be tracked by the absolute positioning system 1100 where, when the articulation actuator is operationally coupled to the trigger member 220 (Figure 3) by the clutch assembly 400 (Figure 3), for example, the absolute positioning system 1100 can, in effect, track the movement of the articulation system through the drive member 120. As a result of tracking the movement of the articulation system, the controller of the surgical instrument can r eg register the articulation angle θ of the end actuator 2300, such as the end actuator 2300, for example. In several circumstances, as a result, the pivot angle θ can be determined as a function of the longitudinal displacement DL of the drive member 120. How the longitudinal displacement DL of the drive member 120 can be accurately determined based on in the absolute position signal / value provided by the absolute positioning system 1100, the articulation angle θ can be determined as a function of the longitudinal displacement LD.
[00153] [00153] In another aspect, the articulation angle θ can be determined by the location sensors on the articulated joint 2270. The sensors can be configured to detect the rotation of the articulated joint 2270 using the absolute positioning system 1100 adapted to measure the absolute rotation of the articulated joint 2270. For example, the sensor arrangement 1102 comprises a position sensor 1200, a magnet 1202 and a magnet holder 1204 adapted to detect the rotation of the articulated joint 2270. The position sensor 1200 comprises one or more magnetic detection elements, such as Hall elements, and is positioned close to the magnet
[00154] [00154] In one aspect, the firing rate or speed of the i-profile beam 178 can be varied as a function of the articulation angle of the end actuator 2300 to decrease the force to fire in the firing drive system 80 and, in particular, the force for firing the beam with an i 178 profile, among other components of the firing drive system 80 discussed here. To adapt the variable firing force of the i-profile beam 178 as a function of the articulation angle of the end actuator 2300, a variable motor control voltage can be applied to motor 82 to control the speed of motor 82. The speed of the motor 82 can be controlled by comparing the firing force of the i-profile beam 178 with different maximum limits based on the articulation angle of the end actuator 2300. The speed of the electric motor 82 can be varied through the adjustment of voltage, current, pulse width modulation (PWM) or duty cycle (0 to 100%) applied to motor 82, for example.
[00155] [00155] Having described the techniques for measuring the articulation angle of the articulated joint 2270 and the actuation of the longitudinally movable drive member 120, the firing member 220, the firing bar 172 or the beam with i-profile 178 using the trigger drive system 80 of surgical instrument 10 (Figures 1 to 4), the description now turns to Figures 13, 14 and 22 to 27 for a description of various techniques for controlling the rate or speed of firing of the beam with i-profile 2514, or of the firing bar 2520, based on the articulation angle of the end actuator 2502.
[00156] [00156] Figure 22 is a 4500 graph of the firing rate (speed) of the beam with i-profile 2514 as a function of the articulation angle of the end actuator 2502, according to one or more aspects of this description. The horizontal axis 4502 represents the angle of articulation of the end actuator 2502 in the range between -65 ° and + 65 °, for example, and the vertical axis 4504 represents the firing rate of the beam with an i 2514 profile. 0 to 1.0Y mm / s, where Y is a scale factor. For example, when Y = 20, the vertical axis 4504 is in the range of 0 to 20 mm / s. Curve 4506 shows that, as the articulation angle of the end actuator 2502 varies between -65 ° and + 65 °, the firing rate of the beam with i-profile 2514 varies non-linearly and is symmetrical in around 0 °. The maximum firing rate of the 1.025 i-profile beam of 1.0Y occurs at an angle of articulation of the end actuator 2300 of 0 °, in other words, when the geometry axis EA of the end actuator and the geometric axis SA of the end actuators are aligned. As end actuator 2502 is pivoted from 0 ° to + 65 ° or from 0 ° to -65 °, the firing rate of the 2514 i-profile beam decreases non-linearly from 1.0Y to 0.5Y .
[00157] [00157] Figure 23 is a 4510 graph of the firing force of the beam with i 2514 profile as a function of the displacement of the firing stroke of the beam with i 2514 profile, according to one or more aspects of the present description. The horizontal axis 4512 represents the displacement of the firing stroke of the beam with profile 2514 in i from 0 mm (the beginning of the firing stroke) to 1.0X mm of (the end of the firing stroke), where X is a scale factor associated with the nominal length of a stapler cartridge. The nominal lengths of the stapler cartridges are in the range of 10 to 60 mm, for example. The vertical axis 4514 represents the firing force of the beam with an i 2514 profile from 0 to 1.00Y N (Newtons), where Y is a scale factor. In one aspect, the strength of the firing member 2520 ranges from 0 to 900 N (0 to 202,328 pounds). Graph 4510 shows three curves 4516, 4518,
[00158] [00158] The force acting on the firing member 2520 can be determined using various techniques. In one aspect, the force of the firing member can be determined by measuring the current of the 2504 motor, where the current of the 2504 motor is based on the load on the firing member 2520 as it advances distally. . In another aspect, the firing force of the i-profile beam 2514 can be determined by placing a stress meter on the drive member 120 (Figure 2), the firing member 220 (Figure 2), the firing member 2520, the firing bar 172 (Figure 2) and / or the beam with I-shaped profile 2514, 178 (Figure 4). In yet another aspect, the i-beam profile 2514 can be determined by monitoring the actual position of the i-profile beam 2514 moving at an expected speed based on the current set speed of the 2504 motor after a period of time predetermined T1 elapsed and by comparing the actual position of the beam with i 2514 profile in relation to the expected position of the beam with i 2514 profile based on the current set speed of motor 2504 at the end of the T1 period. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i-profile 2514 is greater than the expected position of the beam with i-profile 2514, the force on the beam with i-profile
[00159] [00159] Figure 24 is a 4530 graph of the firing force of the beam with i 2514 profile as a function of the displacement of the firing stroke of the beam with i 2514 profile, according to one or more aspects of the present description. The 4532 horizontal axis represents the displacement of the firing stroke from 0 to 1.0X mm, where X is a scale factor associated with the nominal length of a stapler cartridge. The nominal lengths of the stapler cartridges are in the range of 10 to 60 mm, for example. The vertical axis 4534 represents the firing force of the beam with i 2514 profile from 0 to 1.00Y N, where Y is a scale factor. In one aspect, the firing force of the i-profile beam 2514 ranges from 0 to 900 N (0 to 202.328 liters-weight). The graphic 4530 shows three curves 4536, 4538, 4540 and two limits 4542, 4544 based on the articulation angle of the end actuator 2502 to reduce the firing force and the force to shoot on the beam with i 2514 profile. The first 4536 curve represents
[00160] [00160] Graph 4530 also shows the variable limits of the trigger force 4542, 4544 of the beam with I-profile 2514 based on the articulation angle of the end actuator 2502, which results in a variable firing rate of the beam with i-profile 2514 throughout the firing stroke of the beam with i-profile 2514. The upper limit 4542 is an angle of articulation of the 2502 end actuator of 65 ° and the lower limit 4544 is of an angle articulation of the 2502 0 ° end actuator. With the articulation angle of the end actuator 2502 set to 65 °, the beam with i-profile 2514 advances at a variable speed until the firing force of the beam with i-profile 2514 crosses the upper limit 4542, moment, an algorithm adjusts the speed of the motor 2504 to a desired speed until the firing force of the i-beam beam 2514 falls below the upper limit 4542 of the firing force of the i-beam beam 2514 and then maintains the constant 2054 engine speed. The beam with i 2514 profile then advances distally at the desired constant speed. With the articulation angle of the end actuator 2502 set to 0 °, the i-beam beam 2514 advances at a variable speed until the firing force of the i-beam beam 2514 crosses the lower limit 4544 and, at that time an algorithm adjusts engine speed 2504 to a desired constant speed. The beam with i 2514 profile advances distally at the desired constant speed. This operation is further described below in conjunction with Figure 24. The upper limit 4542 and the lower limit 4544 as well as the intermediate limit between them, which varies based on the articulation angle of the 2502 end actuator, are not linear over the travel stroke offset of the 2518 stapler cartridge. In other respects, limits 4542, 4544 can be a constant straight line or they can be a straight line with a slope. The limits 4542, 4544 represent the firing force of the i-profile beam 2514 regardless of how the firing force of the i-profile beam 2514 is determined.
[00161] [00161] As discussed above, the firing force of the beam with i 2514 profile can be determined by the motor current 2504, by the strain gauge or represented by comparing the actual position of the beam with i 2514 profile over a period predetermined t1 in relation to the expected position of the i-profile beam 2514 advancing distally at a defined speed of the engine 2504. In the last configuration, with reference also to Figure 25, the surgical instrument additionally comprises a timer circuit / counter 2531 coupled to control circuit 2510, where timer / counter circuit 2531 is configured to measure elapsed time. The 2510 control circuit is configured to set the speed
[00162] [00162] Figure 25 is a 4550 graph of the firing rate of the beam with i-2514 profile as a function of the displacement of the firing stroke of the beam with i-2514 profile, according to one or more aspects of the present description. The horizontal axis 4552 represents the firing travel of the beam with i 2514 profile from 0 to 1.0X mm, where X is a Scale factor associated with the nominal length of a stapler cartridge. The nominal lengths of the stapler cartridges are in the range of 10 to 60 mm, for example. The vertical axis 4554 represents the firing rate of the beam with i 2514 profile from 0 to 1.00Y N, where Y is a scale factor. In one aspect, the strength of the beam with an i 2514 profile varies from 0 to 20 mm / s. The 4550 graph shows three curves 4556, 4558, 4559. The first curve 4556 is the beam rate with i 2514 profile defined at an articulation angle of the end actuator of 0 °. The firing rate of the i-profile beam 2514 increases in relation to the initial displacement and remains constant during the remaining travel with the 2504 motor adjusted to a constant speed. The second curve 4558 is the rate of the i-profile beam 2514 defined at an articulation angle of the end actuator 2502 of 65 °. The firing rate of the i-profile beam 2514 increases in relation to the initial displacement and remains constant during the remaining travel with the motor 2504 set to a variable speed based on the articulation angle of the end actuator 2502. The third curve 4559 is the rate of the beam with i 2514 profile defined at an articulation angle of the 2502 end actuator of 65 °. The beam with i-profile 2514 increases during the initial displacement and varies during the remaining travel with the 2504 engine set at a constant desired speed with the limitations of the actual battery capacity (V-A).
[00163] [00163] Figure 26 is a logic flow diagram representing a 4560 process of a control program or a logical configuration to control the rate of a displacement member such as a beam with an i 2514 profile, for example, based on a articulation angle of the end actuator 2502, according to one or more aspects of the present description. In the following description of process 4560 in Figure 26, reference should also be made to Figures 15 to 25. Consequently, control circuit 2510 determines 4562 the actual pivot angle of end actuator 2502 based on information received from the sensor. position 2534. The control circuit 2510 adjusts 4564 the speed of the motor 2504 based on the pivot angle. The 2510 control circuit compares the current pivot angle 4565 with the previous pivot angle. If there is no change in the articulation angle, the 4560 process continues along the "no" (N) branch and the control circuit 2510 determines the 4562 articulation angle while keeping the motor speed 2504 constant. If there is a change in the articulation angle of the end actuator 2502, the 4560 process continues along the "yes" (Y) branch and the control circuit 2501 adjusts the motor speed 2504 4566 based on the new angle articulation. The control circuit 2510 compares 4567 the actual position of the beam with i-profile 2514 and the position of the firing stroke. If the beam with i 2514 profile is at the end of the firing stroke, process 4560 continues along the "yes" (Y) branch and ends 4568. If the beam with i 2514 profile has not reached the end of the firing stroke , the 4560 process continues along the "no" (N) branch and determines the 4562 articulation angle. The 4560 process continues until the position of the beam with i 2514 profile reaches 4569 the end of the firing stroke of the beam with i 2514 profile.
[00164] [00164] Figure 27 is a logic flow diagram representing a 4570 process of a control program or a logical configuration for controlling the rate of a displacement member such as a beam with an i 2514 profile, for example, based on a articulation angle of the end actuator 2502, according to one or more aspects of the present description. In the following description of process 4570 in Figure 27, reference should also be made to Figures 15 to 25. Consequently, control circuit 2510 determines 4572 the articulation angle of end actuator 2502 based on information received from the position 2534. In the example where the displacement member is the i-beam beam 2514, the control circuit 2510 selects a 4574 i-beam beam strength limit based on the pivot angle of the end actuator 2502. Control circuit 2510 provides a motor setpoint signal 2522 to motor controller 2508, which provides motor start signal 2524 to adjust 4576 motor speed 2504 based on the actuator pivot angle endpoint 2502. Control circuit 2510 determines 4578 the actual position of the i-profile beam 2514 and determines 4580 the firing force of the i-profile beam 2514 and compares 4582 the stripping force
[00165] [00165] The functions or processes 4560, 4570 described here can be performed by any of the processing circuits described here, such as the control circuit 700 described in relation to Figures 5 and 6, the circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described in Figures 10 and 12 and / or the control circuit 2510 described in Figure 14.
[00166] [00166] Aspects of the motorized surgical instrument can be practiced without the specific details revealed here. Some aspects
[00167] [00167] In general, the aspects described here, which can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or any combination of these, can be seen as being composed of several types of "electrical circuits". Consequently, the term "electrical circuit" includes electrical circuits that have at least one electrical circuit isolated, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for specific application. , electrical circuits that form a general-purpose computing device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially executes 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). aspects can be implemented in analog or digital form or combinations of them.
[00168] [00168] The previous description presented aspects of devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented by means of application specific integrated circuits ("ASIC" - application specific integrated circuits), field programmable gate arrays ("FPGA" - field programmable gate arrays) , digital signal processors ("DSPs"), programmable logic devices ("PLD" - programmable logic devices), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates or other integrated formats. Some aspects disclosed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs running on one or more computers). computer systems), as one or more programs that run on one or more processors (for example, as one or more programs that run on one or more microprocessors), as firmware, or virtually as any combination of them, and that designs - taring 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.
[00169] [00169] The mechanisms of the subject described here can be distributed as a program product in a variety of ways and that an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission medium used to effectively perform the distribution. Examples of a signal transmission medium include the following: a recordable medium such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a digital tape, a memory computer, 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.).
[00170] [00170] The previously mentioned description of these aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described for the purpose of illustrating the principles and practical application to, thus, enable the person skilled in the art to use the various aspects and with several modifications, as they are convenient for the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[00171] [00171] Various aspects of the subject described in this document are defined in the following numbered examples:
[00172] [00172] Example 1. A surgical instrument comprising: a displacement member; a motor coupled to the displacement member to translate the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor configured to measure the position of the displacement member and configured to measure an articulation angle of an end actuator in relation to a longitudinally extending drive axis; wherein the control circuit is configured to: determine the pivot angle between the end actuator and the drive shaft; select a limit force based on the pivot angle; adjust the engine speed based on the articulation angle; determine the force on the displacement member and adjust the motor speed when the force on the displacement member is greater than the limit force.
[00173] [00173] Example 2. The surgical instrument of Example 1, in which the control circuit is configured to determine the actual position of the displacement member.
[00174] [00174] Example 3. The surgical instrument from Example 1 to Example 2, in which the control circuit is configured to determine the end of the travel path of the displacement member.
[00175] [00175] Example 4. The surgical instrument from Example 1 to Example 3, in which the control circuit is configured to compare the force on the displacement member with the limit force.
[00176] [00176] Example 5. The surgical instrument from Example 1 to Example 4, which additionally comprises a timer / counter circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time; where the control circuit is configured to: adjust the motor speed; receiving an initial position from the displacement member of the position sensor; receiving a reference time t1 of the timer / counter circuit corresponding to the initial position of the displacement member; and determining an expected position of the displacement member at a time t2 based on the motor speed.
[00177] [00177] Example 6. The surgical instrument of Example 5, in which the control circuit is configured to: receive a real position of the displacement member at time t2 from the position sensor; compare the actual position of the displacement member at time t2 with the expected position of the displacement member at time t2; and determining the force on the displacement member based on a difference between the actual position of the displacement member at time t2 and the expected position of the displacement member at time t2.
[00178] [00178] Example 7. The surgical instrument from Example 1 to Example 6, in which the control circuit is configured to reduce the speed of the motor until the force on the displacement member is less than the limit force.
[00179] [00179] Example 8. A surgical instrument comprising: a displacement member; a motor coupled to a proximal end of the displacement member to translate the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor configured to measure the position of the displacement member in relation to an end actuator and configured to measure an articulation angle of the end actuator in relation to a longitudinally extending drive axis; where the control circuit is configured to: determine the articulation angle between the end actuator and the longitudinally extending drive shaft; and adjust the engine speed based on the pivot angle.
[00180] [00180] Example 9. The surgical instrument of Example 8, in which the control circuit is configured to determine the actual position of the displacement member.
[00181] [00181] Example 10. The surgical instrument from Example 8 to Example 9, in which the control circuit is configured to determine the end of the travel path of the displacement member.
[00182] [00182] Example 11. The surgical instrument from Example 8 to Example 10, in which the control circuit is configured to compare the pivot angle to a previous pivot angle.
[00183] [00183] Example 12. The surgical instrument of Example 11, in which the control circuit is configured to adjust the motor speed based on a new articulation angle.
[00184] [00184] Example 13. The surgical instrument from Example 8 to Example 12, which additionally comprises a timer / counter circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time; where the control circuit is configured to: adjust the motor speed; receiving an initial position from the displacement member of the position sensor; receiving a reference time t1 of the timer / counter circuit corresponding to the initial position of the displacement member; and determining an expected position of the displacement member at a time t2 based on the adjusted motor speed.
[00185] [00185] Example 14. The surgical instrument of Example 13, in which the control circuit is configured to: receive a real position of the displacement member at time t2 from the position sensor; compare the actual position of the displacement member at time t2 with the expected position of the beam member with i-profile at time t2; and determining a force on the displacement member based on a difference between the actual position of the displacement member at time t2 and the expected position of the displacement member at time t2.
[00186] [00186] Example 15. A method of engine speed control in a surgical instrument, the surgical instrument comprising a displacement member, a motor coupled to the displacement member to transfer the displacement member, a circuit control coupled to the motor and a position sensor coupled to the control circuit, the position sensor configured to measure the position of the displacement member and configured to measure an articulation angle of an end actuator with respect to a drive shaft that it extends longitudinally, a method that comprises: determining, by means of the control circuit, an angle of articulation between the end actuator and the longitudinally extending drive axis; and define, through the control circuit, the motor speed based on the articulation angle.
[00187] [00187] Example 16. The method of Example 15, which further comprises: selecting, through the control circuit, a limit force based on the articulation angle; determine, by means of the control circuit, the force on the displacement member and adjust, by means of the control circuit, the motor speed when the force on the displacement member is greater than the limit force.
[00188] [00188] Example 17. The method of Example 15 to Example 16, which further comprises determining, by means of the control circuit, the actual position of the displacement member.
[00189] [00189] Example 18. The method of Example 15 to Example 17, which further comprises determining, by means of the control circuit, the end of the travel path of the displacement member.
[00190] [00190] Example 19. The method of Example 15 to Example 18, which further comprises comparing, by means of the control circuit, the articulation angle with an anterior articulation angle.
[00191] [00191] Example 20. The method of Example 19, which further comprises adjusting, through the control circuit, the motor speed based on a new articulation angle.

权利要求:
Claims (20)
[1]
1. Surgical instrument characterized by comprising: a displacement member; 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, where the position sensor is configured to measure the position of the displacement member and is configured to measure an articulation angle of an end actuator in relation to an axis of drive that extends longitudinally; where the control circuit is configured to: determine the articulation angle between the end actuator and the drive shaft; select a limit force based on the articulation angle; adjust the engine speed based on the articulation angle; determine the force on the displacement member and adjust the motor speed when the force on the displacement member is greater than the limit force.
[2]
2. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to determine the actual position of the displacement member.
[3]
3. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to determine the end of the travel path of the displacement member.
[4]
4. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to compare the force on the displacement member with the limit force.
[5]
5. Surgical instrument, according to claim 1, characterized by additionally comprising a timer / counter circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time; where the control circuit is configured to: adjust the motor speed; receiving an initial position from the displacement member of the position sensor; receiving a reference time t1 of the timer / counter circuit corresponding to the initial position of the displacement member; and determining an expected position of the displacement member at a time t2 based on the motor speed.
[6]
6. Surgical instrument, according to claim 5, characterized in that the control circuit is configured to: receive a real position of the displacement member at time t2 of the position sensor; compare the actual position of the displacement member at time t2 with the expected position of the displacement member at time t2; and determining the force on the displacement member based on a difference between the actual position of the displacement member at time t2 and the expected position of the displacement member at time t2.
[7]
7. Surgical instrument, according to claim 1, characterized in that the control circuit is configured to reduce the motor speed until the force on the displacement member is less than the limit force.
[8]
8. Surgical instrument characterized by comprising: a displacement member;
a motor coupled to a proximal end of the displacement member to move the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member in relation to an end actuator and is configured to measure an articulation angle of the end actuator in relation to a drive shaft that extends longitudinally; where the control circuit is configured to: determine the articulation angle between the end actuator and the longitudinally extending drive shaft and adjust the motor speed based on the articulation angle.
[9]
9. Surgical instrument, according to claim 8, characterized in that the control circuit is configured to determine the actual position of the displacement member.
[10]
10. Surgical instrument, according to claim 8, characterized in that the control circuit is configured to determine the end of the travel path of the displacement member.
[11]
11. Surgical instrument according to claim 8, characterized in that the control circuit is configured to compare the angle of articulation with an angle of anterior articulation.
[12]
12. Surgical instrument, according to claim 11, characterized in that the control circuit is configured to adjust the engine speed based on a new articulation angle.
[13]
13. Surgical instrument according to claim 8, characterized in that it additionally comprises a timed circuit
pain / counter coupled to the control circuit, in which the timer / counter circuit is configured to measure the elapsed time; where the control circuit is configured to: adjust the motor speed; receiving an initial position from the displacement member of the position sensor; receiving a reference time t1 of the timer / counter circuit corresponding to the initial position of the displacement member; and determining an expected position of the displacement member at a time t2 based on the adjusted motor speed.
[14]
14. Surgical instrument, according to claim 13, characterized in that the control circuit is configured to: receive a real position of the displacement member at time t2 of the position sensor; compare the actual position of the displacement member at time t2 with the expected position of the beam member with i-profile at time t2; and determining a force on the displacement member based on a difference between the actual position of the displacement member at time t2 and the expected position of the displacement member at time t2.
[15]
15. Motor speed control method in a surgical instrument, in which the surgical instrument comprises a displacement member, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor and a position sensor coupled to the control circuit, the position sensor is configured to measure a position of the displacement member and is configured to measure an articulation angle of an end actuator in relation to a drive shaft that extends longitudinally, in which the method is characterized by understanding: determining, by means of the control circuit, an angle of articulation between an end actuator and a longitudinally extending drive axis; and define, through the control circuit, the motor speed based on the articulation angle.
[16]
16. Method, according to claim 15, characterized by additionally comprising: selecting, through the control circuit, a limit force based on the angle of articulation; determine, by means of the control circuit, the force on the displacement member and adjust, by means of the control circuit, the motor speed when the force on the displacement member is greater than the limit force.
[17]
17. Method according to claim 15, characterized in that it further comprises determining, by means of the control circuit, the actual position of the displacement member.
[18]
18. Method according to claim 15, characterized in that it further comprises determining, by means of the control circuit, the end of the travel path of the displacement member.
[19]
19. Method according to claim 15, characterized in that it further comprises comparing, by means of the control circuit, the pivot angle with a previous pivot angle.
[20]
20. Method according to claim 19, characterized in that it further comprises adjusting, through the control circuit, the motor speed based on a new articulation angle.

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同族专利:

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公开号 | 公开日

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EP3417794A1|2018-12-26|

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CN110785128A|2020-02-11|

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JP2020524054A|2020-08-13|

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WO2018234888A1|2018-12-27|

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US20180360446A1|2018-12-20|

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US11224497B2|2019-06-28|2022-01-18|Cilag Gmbh International|Surgical systems with multiple RFID tags|

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US11246678B2|2019-06-28|2022-02-15|Cilag Gmbh International|Surgical stapling system having a frangible RFID tag|

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US11234698B2|2019-12-19|2022-02-01|Cilag Gmbh International|Stapling system comprising a clamp lockout and a firing lockout|

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WO2022006795A1|2020-07-09|2022-01-13|Covidien Lp|Powered handle assembly for surgical devices|

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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US15/628,050|2017-06-20|

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US15/628,050|US20180360446A1|2017-06-20|2017-06-20|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector|

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PCT/IB2018/053446|WO2018234888A1|2017-06-20|2018-05-16|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector|

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