techniques for closed-circuit control of the motor speed of a surgical stapling and cutting instrume

专利摘要:
The present invention relates to a method of adjusting speed in a motorized surgical instrument. The surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones, a motor coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member, and a timer circuit coupled to the control circuit, in which the timer circuit is configured to measure the elapsed time. The method includes adjusting a directed velocity of the displacement member; determining a real speed of the displacement member; determining an error between the directed speed of the displacement member and the actual speed of the displacement member; and controlling the actual speed of the displacement member based on the magnitude of the error.
公开号:BR112019027210A2
申请号:R112019027210-0
申请日:2018-05-16
公开日:2020-06-30
发明作者:Raymond E. Parfett；Shane R. Adams；Frederick E. Shelton Iv；Jason L. Harris
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND
[0002] [0002] In a motorized surgical stapling and cutting instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at predetermined position intervals of the displacement member or measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the cutting element speed during a firing stroke to take into account tissue conditions. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it can be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different articulation speed than the standard pivot speed in one or more regions within a sweep range of the end actuator.
[0003] [0003] When using a motorized surgical cutting and stapling instrument, it is possible for a speed-controlled system error to occur between the command or directed speed and the actual measured speed of the cutting or firing member. Therefore, it may be desirable to provide a closed loop feedback method for adjusting the trigger speed based on the magnitude of one or more error terms based on the difference between an actual speed and a command speed or directed over a specific increment. of time / distance. SUMMARY
[0004] [0004] A method of adjusting speed on a motorized surgical instrument is provided. The surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones, a motor coupled to the displacement member to transfer the displacement member and a control circuit coupled to the engine. The surgical instrument additionally comprises a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member, and a timer circuit coupled to the control circuit, in which the timer circuit is configured to measure the elapsed time. The method comprises adjusting, through the control circuit, a directed speed of the displacement member; determine, by means of the control circuit, a real speed of the displacement member; determine, by means of the control circuit, an error between the directed speed of the displacement member and the real speed of the displacement member; and controlling, through the control circuit, the actual speed of the displacement member based on the magnitude of the error. FIGURES
[0005] [0005] The innovative features 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.
[0006] [0006] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axles operationally coupled to it, according to one aspect of this description.
[0007] [0007] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument of Figure 1, according to an aspect of this description.
[0008] [0008] Figure 3 is a view of the exploded set of portions of the interchangeable drive shaft assembly, according to an aspect of this description.
[0009] [0009] Figure 4 is an exploded perspective view of an end actuator of the surgical instrument of Figure 1, according to an aspect of this description.
[0010] [0010] Figures 5A to 5B are a block diagram of a control circuit for the surgical instrument of 1 that covers two drawing sheets, according to one aspect of this description.
[0011] [0011] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 that illustrates interfaces between the cable assembly, the power assembly and the cable assembly and the interchangeable drive shaft assembly, according to one aspect of the present description.
[0012] [0012] 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.
[0013] [0013] Figure 8 illustrates a combinational logic circuit configured
[0014] [0014] 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.
[0015] [0015] 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, in accordance with with an aspect of the present description.
[0016] [0016] Figure 11 is an exploded perspective view of the sensor array for an absolute positioning system, showing a control circuit board assembly and the relative alignment of the sensor array elements, according to a or more aspects of this description.
[0017] [0017] Figure 12 is a diagram of a position sensor comprising a rotating magnetic absolute positioning system, according to an aspect of the present description.
[0018] [0018] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, which shows a course of the firing member in relation to the tissue trapped inside the end actuator, according to an aspect of the this description.
[0019] [0019] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, according to an aspect of the present description.
[0020] [0020] Figure 15 illustrates a diagram that plots two displacement member courses executed, according to an aspect of the present description.
[0021] [0021] Figure 16 is a graph that represents the speed (v) of a displacement member as a function of displacement (δ) of the displacement member according to an aspect of the present description.
[0022] [0022] Figure 17 is a graph that represents the speed (v) of a displacement member as a function of displacement (δ) of the displacement member according to an aspect of the present description.
[0023] [0023] Figure 18 is a graph of the speed (v) of a displacement member as a function of displacement (δ) of the displacement member that represents a condition for changing the directed speed limit according to an aspect of this description.
[0024] [0024] Figure 19 is a graph that illustrates the conditions for changing the 8506 directed speed of a displacement member according to an aspect of the present description.
[0025] [0025] Figure 20 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the speed of a displacement member based on the error measured between the directed speed of a displacement member and the actual speed of the displacement member according to an aspect of the present description.
[0026] [0026] Figure 21 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the speed of a travel member based on the error measured between the directed speed of a travel member and the actual speed of the displacement member according to an aspect of the present description.
[0027] [0027] Figure 22 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the speed of a travel member based on the error measured between the directed speed of a travel member and the actual speed of the displacement member according to an aspect of the present description.
[0028] [0028] Figure 23A illustrates an end actuator comprising a firing member coupled to an I-shaped rod comprising a cutting edge according to an aspect of the present description.
[0029] [0029] Figure 23B illustrates an end actuator, in which the rod with an I-profile is located in a target position at the top of a ramp with the upper pin engaged in the slot with a T-profile according to one aspect of the present description.
[0030] [0030] Figure 24 illustrates the firing stroke of the I-shaped rod, which is illustrated by a graph aligned with the end actuator according to one aspect of the present description.
[0031] [0031] Figure 25 is a graphical representation that compares the displacement of the firing stroke of the I-shaped rod as a function of time (upper graph) and the expected firing force as a function of time (lower graph) according with an aspect of the present description.
[0032] [0032] Figure 26 is a graphical representation that compares the thickness of the tissue as a function of the adjusted travel range of the stem stroke with I-shaped profile (upper graph), the firing force as a function of the adjusted travel range of the I-shaped stem travel (second graph from above), dynamic time checks as a function of the adjusted travel range of the I-shaped stem travel (third graph from above) according to a aspect of this description.
[0033] [0033] Figure 27 is a graphical representation of the force for firing as a function of time that compares the slow, medium and fast travel speeds of the I-shaped stem according to one aspect of the present description.
[0034] [0034] Figure 28 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the command speed at an initial trigger stage according to an aspect of the present description.
[0035] [0035] Figure 29 is a logical flowchart of a process that represents a control program or a logical configuration to control the command speed in a dynamic trigger stage according to an aspect of the present description.
[0036] [0036] Figure 30A illustrates an end actuator comprising a firing member coupled to an I-shaped rod comprising a cutting edge according to an aspect of the present description.
[0037] [0037] Figure 30B illustrates an end actuator, in which the rod with an I-profile is located in a target position at the top of a ramp with the upper pin engaged in the slot with a T-profile according to one aspect of the present description.
[0038] [0038] Figure 31 illustrates the firing stroke of the I-shaped rod, which is illustrated by a graph aligned with the end actuator according to one aspect of the present description.
[0039] [0039] Figure 32 is a graphical representation that compares the thickness of the tissue as a function of the adjusted time interval of the stem stroke with I-shaped profile (upper graph), the force for firing as a function of the time interval adjusted stem stroke with I profile (second graph from above), dynamic time checks as a function of the adjusted time interval of the stem stroke with I profile (third graph from above) and a adjusted speed of the I-shaped stem as a function of the adjusted time interval of the stroke of the I-shaped stem (bottom graph) according to one aspect of this description.
[0040] [0040] Figure 33 is a graphical representation of the force for firing as a function of time that compares the slow, medium and fast travel speeds of the I-shaped stem according to one aspect of the present description.
[0041] [0041] Figure 34 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the command speed at an initial trigger stage according to an aspect of the present description.
[0042] [0042] Figure 35 is a logical flowchart of a process that represents a control program or a logical configuration to control the command speed in a dynamic trigger stage according to an aspect of the present description.
[0043] [0043] Figure 36A illustrates an end actuator comprising a firing member coupled to an I-shaped rod comprising a cutting edge in accordance with an aspect of the present description.
[0044] [0044] Figure 36B illustrates an end actuator, in which the rod with an I-profile is located in a target position at the top of a ramp with the upper pin engaged in the slot with a T-profile according to one aspect of the present description.
[0045] [0045] Figure 37 illustrates a thread drive system 10470 that can be used with surgical instrument 10 (Figure 1) according to an aspect of the present description.
[0046] [0046] Figure 38 illustrates the firing stroke of the I-shaped rod, which is illustrated by a graph aligned with the end actuator according to one aspect of the present description.
[0047] [0047] Figure 39 is a graphical representation that compares the displacement of the stroke of the rod with an I profile as a function of time (upper graph) and the expected firing force as a function of time (lower graph) according to a aspect of the
[0048] [0048] Figure 40 is a graphical representation that compares the thickness of the tissue as a function of the adjusted rotation range of the rod stroke with I-shaped profile (upper graph), the firing force as a function of the rotation range. set of the I-shaped stem travel (second graph from above), dynamic time checks as a function of the adjusted rotation range of the I-shaped stem travel (third graph from above) and a adjusted speed of the I-shaped rod as a function of the adjusted rotation range of the stroke of the I-shaped rod (bottom graph) according to one aspect of this description.
[0049] [0049] Figure 41 is a graphical representation of the force for firing as a function of time that compares the slow, medium and fast travel speeds of the I-shaped rod according to one aspect of the present description.
[0050] [0050] Figure 42 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the command speed at an initial trigger stage according to an aspect of the present description.
[0051] [0051] Figure 43 is a logical flowchart of a process that represents a control program or a logical configuration to control the command speed in a dynamic trigger stage according to an aspect of the present description.
[0052] [0052] Figure 44 is a perspective view of a surgical instrument according to an aspect of this description.
[0053] [0053] Figure 45 is a detailed view of a monitor portion of the surgical instrument shown in Figure 44 according to an aspect of that description.
[0054] [0054] Figure 46 is a logical flowchart of a process that represents a control program or a logical configuration for controlling a monitor according to an aspect of the present description.
[0055] [0055] Figure 47 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0056] [0056] Figure 48 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0057] [0057] Figure 49 is a monitor that represents an indicative speed adjustment screen in an automatic way according to an aspect of the present description.
[0058] [0058] Figure 50 is a monitor that represents an indicative speed adjustment screen in an automatic way according to an aspect of the present description.
[0059] [0059] Figure 51 is a monitor that represents an indicative speed adjustment screen in an automatic way according to an aspect of the present description.
[0060] [0060] Figure 52 is a monitor that represents an indicative speed adjustment screen in an automatic way according to an aspect of the present description.
[0061] [0061] Figure 53 is a monitor that represents an indicative speed adjustment screen in a manual way according to an aspect of the present description.
[0062] [0062] Figure 54 is a monitor that represents an indicative speed adjustment screen in a manual way according to an aspect of the present description.
[0063] [0063] Figure 55 is a monitor that represents an indicative speed adjustment screen in an automatic way according to an aspect of the present description.
[0064] [0064] Figure 56 is a monitor that represents a reaction screen.
[0065] [0065] Figure 57 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0066] [0066] Figure 58 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0067] [0067] Figure 59 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0068] [0068] Figure 60 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0069] [0069] Figure 61 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0070] [0070] Figure 62 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0071] [0071] Figure 63 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0072] [0072] Figure 64 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0073] [0073] Figure 65 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0074] [0074] Figure 66 is a monitor that represents a reaction screen
[0075] [0075] Figure 67 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0076] [0076] Figure 68 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0077] [0077] Figure 69 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0078] [0078] Figure 70 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0079] [0079] Figure 71 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0080] [0080] Figure 72 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0081] [0081] Figure 73 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0082] [0082] Figure 74 is a monitor that represents a speed adjustment screen indicative of a control speed and an actual speed in accordance with an aspect of the present description.
[0083] [0083] Figure 75 is a monitor that represents a speed adjustment screen indicative of a control speed and an actual speed according to an aspect of the present description.
[0084] [0084] Figure 76 is a monitor that represents a speed adjustment screen indicative of a control speed and an actual speed according to an aspect of the present description.
[0085] [0085] Figure 77 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0086] [0086] Figure 78 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0087] [0087] Figure 79 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0088] [0088] Figure 80 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0089] [0089] Figure 81 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0090] [0090] Figure 82 is a perspective view of a surgical instrument according to an aspect of this description.
[0091] [0091] Figure 83 is a detailed view of a monitor portion of the surgical instrument shown in Figure 82 according to an aspect of that description.
[0092] [0092] Figure 84 is a logical flowchart of a process that represents a control program or a logical configuration for controlling a monitor according to an aspect of the present description.
[0093] [0093] Figure 85 is a monitor that represents a reaction screen
[0094] [0094] Figure 86 is a monitor that represents a speed adjustment screen according to an aspect of the present description.
[0095] [0095] Figure 87 is a key located in the compartment of the surgical instrument shown in Figure 82.
[0096] [0096] Figure 88 is a graph that represents several ways in which the monitor highlights the selection menu options.
[0097] [0097] Figure 89 is a monitor that represents an indicative speed adjustment screen in a quick manual mode according to an aspect of the present description.
[0098] [0098] Figure 90 is a monitor that represents an indicative speed adjustment screen in a quick manual mode according to an aspect of the present description.
[0099] [0099] Figure 91 is a monitor that represents an indicative speed adjustment screen in a quick manual mode according to an aspect of the present description.
[0100] [0100] Figure 92 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the motor speed based on the condition of the battery according to an aspect of the present description.
[0101] [0101] Figure 93 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle according to an aspect of the present description.
[0102] [0102] Figure 94 is a logical flow chart of a process that represents a control program or a logical configuration for controlling the motor speed during manual mode according to an aspect of the present description.
[0103] [0103] Figure 95 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and implementing a forced pause in the trip trip cycle. according to one aspect of the present description.
[0104] [0104] Figure 96 is a logical flow chart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip and reducing the speed by one level after the cycle. shooting is restarted according to one aspect of the present description.
[0105] [0105] Figure 97 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle in manual mode and reducing the speed by one level. after the trip cycle is restarted according to an aspect of the present description.
[0106] [0106] Figure 98 is a logical flow chart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and interrupting the trip cycle until the user release the trigger according to one aspect of the present description.
[0107] [0107] Figure 99 is a logical flowchart of a process that represents a control program or a logical configuration for controlling the speed of the motor during the transition between speeds according to an aspect of the present description.
[0108] [0108] Figure 100 is a logical flowchart that represents a process of a control program or a logical configuration for
[0109] [0109] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities: No. of the power of attorney 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 June 20, 2017. N ° of the power of attorney document END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on 20 June 2017. Power of attorney document number 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. de Shelton, IV et al., Filed on June 20, 2017. Power of attorney document number END81 94USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT ACCORDING TO ARTICULATION ANGLE OF END EFFEC-TOR, by the inventors Frederick E. Shelton, IV et al., Deposited at
[0110] [0110] The applicant for the present application holds the following design patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities: Power of attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Deposited on June 20, 2017. Proxy document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR
[0111] [0111] 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.
[0112] [0112] The terms "proximal" and "distal" are with reference to a doctor who handles the handle of the surgical instrument, where "proximal" refers to the portion closest to the doctor and the term "distal" refers to the most distant portion of the doctor. For convenience, the spatial terms "vertical", "horizontal", "up" and "down" used in connection with the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many guidelines and positions.
[0113] [0113] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted through a natural orifice or through an incision or perforation formed in the tissue. The functional portions or portions of the instrument's end actuator can be inserted directly into the body or via an access device that has a functional channel through which the end actuator and the elongated drive shaft can be advanced. surgical instrument.
[0114] [0114] Figures 1 to 4 illustrate a surgical instrument powered by motor 10 for cutting and fixing that may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 comprising a cable assembly 14 that is configured to be picked up, handled and actuated by the physician. The compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in connection with robotically controlled surgical systems. The term "compartment" may include a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. The interchangeable drive shaft assemblies disclosed here 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 DEPLOYMENT ARRANGEMENTS, which is here incorporated by reference, in its entirety.
[0115] [0115] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled thereto, according to an aspect of this description. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a surgical staple cartridge 304 in it. Enclosure 12 can be configured for use in connection with interchangeable drive shaft assemblies that include end actuators that are adapted to support different sizes and types of clamp cartridges, and that have different lengths, drive shaft sizes and types. Enclosure 12 can be used effectively with a variety of interchangeable drive shaft assemblies including assemblies configured to apply other movements and forms of energy such as radio frequency (RF) energy, ultrasonic energy and / or movement to end actuator arrangements adapted for use in various applications and surgical procedures. End actuators, drive shaft assemblies, cables, surgical instruments and / or surgical instrument systems can use any suitable fastener, or fasteners, to fasten tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be inserted removably into and / or attached to the end actuator of a drive shaft assembly.
[0116] [0116] The cable assembly 14 may comprise a pair of interconnectable segments of cable compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The cable compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the clinician. The cable assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. A monitor can be provided below a cover 45.
[0117] [0117] Figure 2 illustrates an exploded view of a portion of the ultrasonic surgical instrument 10 of Figure 1, according to an aspect of this description. The cable assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" drive system or closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator such as a closing trigger 32 pivotally supported by frame 20. The closing trigger 32 is pivotally coupled to the cable assembly 14 by a pivot pin 33 to allow the closing trigger 32 to be manipulated by a doctor. When the physician holds the pistol grip handle portion 19 of the cable assembly 14, the closing trigger 32 may pivot from an initial or "not acted" position to an "acted" position and, more particularly, to an fully compressed or fully actuated position.
[0118] [0118] The cable assembly 14 and the structure 20 can operationally support a trigger drive system 80 configured to apply trigger movements to the corresponding portions of the interchangeable drive shaft assembly fixed to it. The firing drive system 80 can employ an electric motor 82 located in the piston grip handle portion 19 of the cable assembly 14. Electric motor 82 can be a motor with direct current
[0119] [0119] The electric motor 82 may include a rotary drive shaft (not shown), which, in an operational manner, interfaces with a gear reduction assembly 84 mounted on coupling coupling with a set or rack, of teeth drive 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a drive tooth rack 122 formed thereon for coupling input with a corresponding drive gear 86 of the gear reducer assembly gear 84.
[0120] [0120] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, in which the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 counterclockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "DP". The cable assembly 14 may include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. The cable assembly 14 may include a sensor configured to detect the position of the longitudinal drive member. movably movable 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0121] [0121] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the cable assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position .
[0122] [0122] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 configured to operationally support a surgical staple cartridge
[0123] [0123] 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 reference previously mentioned of Patent Application Publication No. 2014/0263541. Anvil 306 is opened by means of the proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0124] [0124] Figure 3 is another view of the exploded set of portions of the interchangeable drive shaft assembly 200, according to one or more aspects of the present description. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement within the center column 210. The firing member 220 includes an intermediate firing shaft 222 configured to connect to a distal cutting portion or cutting bar 280. The firing member 220 may be called a "second drive shaft" or a "second drive shaft assembly". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its end configured to receive a flap 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be configured to allow the relative movement between them and may comprise a sliding joint 286. The sliding joint 286 may allow the intermediate firing drive shaft 222 of the firing member 220 to pivot the end actuator 300 around the pivot joint 270 without moving, or at least without substantially moving, the cutting bar 280. When the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally to a side wall proximal to the slot longitudinal 223 contact the flap 284 to advance the cutting bar 280 and fire a staple cartridge positioned inside the channel 302. The back 210 has an elongated opening or window 213 inside it to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 inside the back 210. When the intermediate trigger drive shaft 222 has been inserted into it , an upper segment of the frame 215 can be engaged with the drive shaft structure 212 to enclose the intermediate trigger drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in the Order Publication US Patent No. 2014/0263541. The central column 210 can be configured to slide a firing member 220 and the closing tube 260 that extends around the central column 210. The central column 210 can slide a driver articulation 230.
[0125] [0125] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably engage the pivot drive 230 to the firing member 220. The clutch assembly 400 includes a ring 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.
[0126] [0126] The interchangeable drive shaft assembly 200 may comprise a slide ring assembly 600 that can be configured to conduct electrical energy to and from or to the end actuator 300 and / or communicate signals to the end actuator 300 and / or from it, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the nozzle portions 202, 203. The flange of the proximal connector 604 may comprise a first face and flange of distal connector 601 may comprise a second face positioned adjacent and movable with respect to the first face. The distal connector flange 601 can rotate in relation to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 can 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, where each contact corresponds and is in electrical contact with one of the conductors 602. This arrangement allows the rotation relative relationship between the proximal connector flange 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between 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.
[0127] [0127] The interchangeable drive shaft assembly 200 may include a proximal portion mounted securely to the cable assembly 14, and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the drive shaft portion. distal rotary drive.
[0128] [0128] Figure 4 is an exploded view of an aspect of an actuator
[0129] [0129] The I-shaped rod 178 may include upper pins 180 that engage the anvil 306 during firing. The I-shaped rod 178 may include intermediate pins 184 and a bottom foot 186 to engage portions of the cartridge body 194, the cartridge tray 196 and the elongated groove 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the rod with I 178 profile it can slide through the aligned longitudinal slots 193, 197 and 189, where, as shown in Figure 4, the base 186 of the I 178 profile rod can engage a groove positioned along the surface bottom of the elongated groove 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 306. A I-shaped rod 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, as the firing bar 172 is advanced distally in order to trigger the staples of the surgical staple cartridge 304 and / or make an incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the I-shaped rod 178 can be retracted proximally allowing the anvil 306 to be opened to release the two portions stapled and cut fabric.
[0130] [0130] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 in Figure 1 covered
[0131] [0131] The drive shaft assembly 704 can include a drive shaft controller 722 that can communicate with a safety controller and a power management controller 716 through an interface, while the - drive shaft 704 and power supply 706 are coupled to cable assembly 702. For example, the interface may comprise a first portion of interface 725 which may include one or more electrical connectors for coupling coupling with connectors corresponding drive shaft assembly wires and a second interface portion 727 that can include one or more connectors for coupling coupling with the corresponding power set wires to enable electrical communication between the controller of the drive. drive shaft assembly 722 and power management controller 716 while drive shaft assembly 704 and power supply 706 are coupled to cable assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the power management controller 716 In response, the power management controller can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The The connectors may comprise switches that can be activated after mechanical coupling of the cable assembly 702 to the drive shaft assembly 704 and / or the power set 706 to allow electrical communication between the controller drive shaft assembly 722 and the power management controller 716.
[0132] [0132] The interface can facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 722 by routing these communication signals through a main controller 717 located on cable assembly 702, for example. In other circumstances, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 via cable assembly 702, while the drive shaft assembly 704 and the power pack 706 are coupled to the cable set 702.
[0133] [0133] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single cycle flash memory integrated memory or other memory non-volatile, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB single cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the program StellarisWare®, 2 KB programmable, electrically erasable, read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder (QEI) input analogues, one or more 12-bit analog to digital converters (ADC) with 12 channels of analog input, details of which are available for the product data sheet.
[0134] [0134] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x, known under the trade name of Hercules ARM Cortex R4, also by Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0135] [0135] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit may be configured to modulate the battery output energy based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the cable assembly 702. The power management 716 can be programmed to control the power modulator 738 from the power output of the power supply 706 and the current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power supply. power management controller 716 over the battery power output so that the 716 power management controller can adjust the power output power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 may comprise, each, one or more processors and / or memory units that can store multiple software modules.
[0136] [0136] Surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include devices to provide sensory feedback to a user. These 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 feedback devices tactile (for example, haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via the output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the output device 742. The output device 742 can instead be integrated with the supply set 706. In these circumstances, communication between output device 742 and the drive shaft assembly controller 722 can be done via the interface, while the drive shaft assembly 704 is coupled to the cable assembly 702.
[0137] [0137] Control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a segment motor, and a power segment. Each circuit segment can be coupled to the safety controller and / or main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board (PCBA) set within the energized surgical instrument 10. It should be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The main controller 717 is a programmable multipurpose device that accepts digital data as input, processes it according to the instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described here.
[0138] [0138] 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 input from the accelerometer can be used to transition to and from a suspension mode, identify the orientation of the surgical instrument energized, and / or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0139] [0139] The screen or display segment (segment 4) comprises a display connector coupled to the main controller 717. The display connector couples the primary controller 717 to a display via one or more drivers of the display integrated circuits. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The screen can 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 safety controller.
[0140] [0140] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft set.
[0141] [0141] The position encoder segment (segment 6) comprises one or more magnetic encoders of the rotation angle position. One or more magnetic encoders of the rotation angle position are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some instances, the magnetic encoders of the rotation angle position can be coupled to the safety controller and / or the main controller 717.
[0142] [0142] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver comprising one or more H bridge field effect transistors (FETs) and a motor controller. The H bridge actuator is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety processor. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0143] [0143] 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.
[0144] [0144] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example,
[0145] [0145] A plurality of keys are coupled to the safety controller and / or to the main controller 717. The keys can be configured to control the operations of the surgical instrument 10 (Figures 1 to 4), of the segmented circuit, and / or indicate a state of the surgical instrument 10. An ejection port switch and an ejection Hall switch are configured to indicate the status of an ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left pivot side for the right side, one on the right pivot side for the right side, and a central pivot key for the right side are configured to control the articulation of an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or the end actuator 300 (Figures 1 and 4). A reverse key on the left side and a reverse key on the right side are coupled to the main controller 717. The keys on the left side comprise the key on the left pivot side on the left, the key on the right pivot side for the left side, the central articulation key for the left side and the reverse key for the left side are coupled to the primary controller 717 by a left flex connector. The keys on the right hand side
[0146] [0146] 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 limit the keys operated by the movement of components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field such as Hall effect devices, magnetoresistive devices (MR), giant magnetoresistive devices (GMR), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid-state devices such as transistors (for example, FET,
[0147] [0147] Figure 6 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the cable assembly 702 and the power supply 706 and between the cable assembly 702 and the interchangeable drive shaft assembly 704, in accordance with an aspect of the present description. The cable assembly 702 can 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 circuit power management unit 734 which may comprise the power management controller 716, a power modulator 738, and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate battery output energy 707 based on the power needs of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to cable assembly 702. Power management controller 716 can be programmed to control power modulator 738 from the power outlet of the set. the power supply 706 and the current sensing circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 to electrically couple the drive shaft assembly 704 to the cable assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described here.
[0148] [0148] 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), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example , haptic actuators). In certain circumstances, output device 742 may comprise a screen 743 that may be included in cable assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. The output 742 can be integrated with the supply set 706. Communication between output device 742 and the drive shaft assembly controller 722 can be done via interface 725 while the drive shaft assembly interchangeable 704 is coupled to the cable assembly 702. Having described a control circuit 700 (Figures 5A to 5B and 6) to control the operation of the surgical instrument 10 (Figures 1 to 4), the description now turns to various instrument configurations
[0149] [0149] 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 several single-core processors or multi-core processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0150] [0150] 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.
[0151] [0151] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to
[0152] [0152] Aspects can be implemented in the form of a manufacturing article. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for the execution of various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application-specific processor.
[0153] [0153] Figure 10 is a diagram of an absolute positioning system 1100 of surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises a motor controlled drive circuit arrangement that
[0154] [0154] An electric motor 1120 may include a rotary drive shaft 1116, which, in operational mode, interfaces with a gear assembly 1114, which is mounted on a coupling hitch with a set, or rack , of driving teeth in the driving member 1111. A sensor element 1126 can be operationally coupled to a gear assembly 1114 so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member
[0155] [0155] A single revolution of sensor element 1126 associated with position sensor 1112 is equivalent to a longitudinal displacement d1 of displacement member 1111, where d1 is the longitudinal 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 position sensor 1112 by completing one or more revolutions for the complete travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions for the complete travel of the travel member 1111.
[0156] [0156] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of the switches 1122a to 1122n is fed back to a controller 1104 that applies logic to determine a single position signal that corresponds to the longitudinal displacement d1 + d2 +… dn of the drive member 1111. The output 1124 of the position sensor 1112 is supplied to controller 1104. Position sensor 1112 of sensor array 1102 can comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, a series of analog Hall effect elements that emit a unique combination of position of signs or values.
[0157] [0157] The absolute positioning system 1100 provides an absolute positioning of the displacement member 1111 with the power of the instrument without having to retract or advance the driving member 1111 to the reset position (zero or initial), as it can be the case with conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, actuation bar, scalpel, and the like.
[0158] [0158] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the joint and scalpel systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. The electric motor 1120 can be a direct current motor with brushes with a gearbox and mechanical connections with a hinge or scalpel system. In one aspect, an 1110 motor drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the positioning system absolute number 1100 is described in US Patent Application No. 15 / 130,590, entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed on April 15, 2016, the description of which is incorporated herein reference title.
[0159] [0159] 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.
[0160] [0160] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback, and an adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to mediate the physical parameters of the physical system in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a 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 circuit, that trigger the calculated response towards the measured response. The computed response of the physical system considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict by knowing the input which will be the states and outputs of the physical system. Controller 1104 can be a control circuit 700 (Figures 5A to 5B).
[0161] [0161] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The 1110 A3941 driver is an entire bridge controller for use with semiconductor metal oxide field effect transistors (MOSFET). external power, N channel, specifically designed for inductive loads, such as DC motors with brushes. The 1110 actuator comprises a single charge pump regulator, provides complete 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. An input command capacitor can be used to supply the excess voltage to that supplied by the battery required for the N-channel MOS-FETs. An internal charge pump for the upper side drive allows operation in direct current (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 the power MOSFETs under most short-circuit conditions. Other motor controllers can be readily replaced for use in the absolute positioning system
[0162] [0162] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the description now turns to Figures 11 to 12 for a description of an aspect of an array arrangement. sensor 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit
[0163] [0163] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to their ability to measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetorrhesis, magnetic tunnel junctions, giant magnetoimpedance,
[0164] [0164] A gear set comprises a first gear 1208 and a second gear 1210 in coupling hitch to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates around a drive shaft 1214. The third gear 1212 is engaged in coupling with the drive member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the drive element 1111 advances in a distal direction D and rotates in a second direction as the drive member 1111 retracts in a proximal direction P. The second gear 1210 also rotates about the drive axis 1214 and therefore the rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the drive member 1111. In this way, a full stroke of the drive member 1111, either in the distal or proximal direction, D, P , corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. Since the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 completes a rotation with c complete stroke of drive member 1111.
[0165] [0165] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable for holding the position sensor 1200 in precise alignment with a magnet 1202 rotating down inside the magnet holder 1204. The accessory it is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder 1204. A hub 1222 is provided that attaches to first gear 1208 and magnetic support 1204. Second gear 1210 and the third gear 1212 coupled to the shaft 1214 are also shown.
[0166] [0166] Figure 12 is a diagram of a position sensor 1200 for an absolute positioning system 1100, comprising a rotating magnetic absolute positioning system, according to an aspect of the present invention. The position sensor 1200 can be implemented as a rotary, magnetic, single-chip, AS5055EQFT position sensor, available from Austria Microsystems, AG. The position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in one area 1230 of position sensor 1200 which is located above magnet 1202 (Figures 15 and 16). A high-resolution ADC 1232 and a smart power management controller 1238 are also provided on the integrated circuit. A CORDIC 1236 processor (acronym for COordinate Rotation DIgital Computer), also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only operations addition, subtraction, bit offset and search table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution dog. The position sensor 1200 can be an AS5055 circuit supplied in a small 16-pin QFN package whose measurement corresponds to 4x4x0.85 mm.
[0167] [0167] Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail in the present invention, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to a 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, Hall effect elements 1228A, 1228B, 1228C, 1228D are capable of producing a voltage signal indicative of the absolute positioning of magnet 1202 in terms of the angle relative to a single revolution of magnet 1202. This value The angle, which is a single position signal, is calculated by the CORDIC 1236 processor and stored integrated in the AS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of magnet 1202 during a revolution is provided to controller 1104 in a variety of techniques, for example, when energizing or upon demand from controller 1104.
[0168] [0168] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[0169] [0169] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented, as this would require more than one angle measurement and, consequently, a longer power-up time, which is not desired in low power applications. The angle variation can be reduced by averaging several angle samples on controller 1104. For example, an average of four samples reduces the variation by 6 dB (50%).
[0170] [0170] Figure 13 is a sectional view of a 2502 end actuator of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the I-shaped profile 2514 in relation to the attached 2526 tissue inside the end actuator 2502, according to an aspect of the present description. The end actuator 2502 is configured to operate with the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises a beaker 2516 and an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503 A firing bar 2520 is translatable distally and proximally along a longitudinal geometry axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the drive shaft of the instrument. An I-shaped rod 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[0171] [0171] An exemplary firing stroke of the I-profile rod 2514 is illustrated by a graphic 2529 aligned with the end actuator 2502. The example tissue 2526 is also shown aligned with the end actuator 2502. The stroke of the firing member can comprise a start position 2527 and an end position 2528. During a firing stroke of the I-profile rod 2514, the I-profile rod 2514 can be advanced distally from the start position of stroke 2527 to end position 2528. The rod with I 2514 profile is shown in an exemplary location of a 2527 start position. The 2529 stroke graph of the trigger member of the I 2514 profile illustrates five regions of travel of the firing member 2517, 2519, 2521, 2523 and 2525. In a first region of the firing course 2517, the I-shaped rod 2514 can begin to advance distally. In the first region of the firing stroke 2517, the I-shaped rod 2514 can make contact with the wedge slide 2513 and start moving it distally. While in the first region, however, cutting edge 2509 may not come into contact with the fabric and the wedge slide 2513 may not come into contact with a staple driver
[0172] [0172] In the second travel 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 to drive the I-profile rod 2514 may start to gradually increase. As shown, the fabric initially found can be compressed and / or thinner due to the way the anvil 2516 rotates in relation to the staple cartridge
[0173] [0173] As discussed above and with reference now to Figures 10 to 13, electric motor 1122 positioned inside the cable assembly of the surgical instrument 10 (Figures 1 to 4 can be used to advance and / or retract the system of triggering the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the driving shaft assembly in order to staple and / or impact the captured tissue inside the end actuator 2502. The I-profile rod 2514 can be advanced or retracted at a desired speed, or within a range of desired speeds The controller 1104 can be configured to control the speed of the I-profile rod 2514. The controller
[0174] [0174] The force acting on the I 2514 shaped rod can be determined using various techniques. The strength of the I-profile rod 2514 can be determined by measuring the current of the engine 2504, where the current of the engine 2504 is based on the load experienced by the I-profile rod 2514 as it advances distally. The strength of the I-profile rod 2514 can be determined by placing a strain gauge on the drive member 120 (Figure 2), on the trigger member 220 (Figure 2), on the I-profile rod 2514 (rod with I 178 profile, Figure
[0175] [0175] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of a displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111 such as the I-shaped rod 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a rod with I-profile 2514 (including a sharp cutting edge 2509), and a removable clamp cartridge 2518. End actuator 2502, anvil 2516, I-profile rod 2514 and clamp cartridge 2518 can be configured according to -
[0176] [0176] The position, movement, displacement, and / or translation of a displacement member 1111, such as the I-profile rod 2514, can be measured by the absolute positioning system 1100, by the sensor arrangement 1102, and by the position sensor 1200 as shown in Figures 10 to 12 and represented as the position sensor 2534 in Figure 14. Because the rod with I-shaped profile 2514 is coupled to a longitudinally movable driving member 120, the position of the rod with profile in I 2514 can be determined by measuring the position of the longitudinally movable drive member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the closing member 2514 can be obtained by the position sensor 2534, as described in the present invention. A control circuit 2510, such as control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the I-shaped rod 2514, as described together with Figures 10 to 12 The control circuit 2510, in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors to execute the instructions that cause the processor or processors to control the displacement member, for example, the stem with profile in I 2514, as described. In one aspect, a timer / counter 2531 provides an output signal, such as elapsed time or a digital count, to the control circuit 2510 to correlate the position of the rod with I-profile 2514, as determined by the position sensor 2534 , with the timer / counter output 2531 so that the control circuit 2510 can determine the position of the I-shaped rod 2514 at a specific time (t) in relation to an initial position. The timer
[0177] [0177] The 2510 control circuit can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current (DC) electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524 drive signal. In some instances, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulated (PWM) signal supplied to one or more windings of the motor stator 2504. In addition, in some examples, the motor controller 2508 can be omitted, and the control circuit 2510 can generate the motor 2524 drive signal directly.
[0178] [0178] The 2504 motor can receive power from a 2512 power source. The 2512 power source can be or include a battery, a super capacitor, or any other suitable 2512 power source. The 2504 motor can be mechanically coupled to the I-shaped rod 2514 by means of a 2506 transmission. The 2506 transmission may include one or more gears or other connecting components to couple the 2504 motor to the I-profile rod 2514. A 2534 position sensor can detect a position of the rod with I-shaped profile
[0179] [0179] 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 the distance of the gap in relation to time, the compression of the tissue in relation to time, and the tension of the anvil in relation to time. The 2538 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a voltage meter, 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 end actuator 2502. The 2538 sensors may include one or more sensors.
[0180] [0180] The one or more 2538 sensors may comprise a voltage meter such as, for example, a microtension meter, configured to measure the magnitude of the voltage on the 2516 anvil during a tight condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is an indication of the thickness and / or completeness of the fabric located between them.
[0181] [0181] 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 a point of interaction 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 may be representative of the tissue compression experienced by the section of the 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 information based on the analysis time and to evaluate, in real time, the closing forces applied to the 2516 anvil.
[0182] [0182] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the rod with I-profile 2514 corresponds to the current drained by the motor
[0183] [0183] Using the physical properties of the instruments shown here, together with Figures 1 to 14, and with reference to Figure 14, a 2510 control circuit can be configured to simulate the actual system response of the instrument in the controller software . A displacement member can be actuated to move an I-shaped rod 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID, state feedback, LQR, and / or an adaptive controller , for example. The 2500 surgical instrument may include a power source for converting the signal from the feedback controller to a physical input such as case voltage, PWM voltage, frequency-modulated voltage, current, torque and / or force, for example.
[0184] [0184] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or I 2514 shaped rod, by a brushed DC motor with gearbox and mechanical connections a an articulation system and / or scalpel. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system. .
[0185] [0185] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of the parts illustrated in the drawings and in the 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 should be understood that one or more of the aspects, expressions of aspects, and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0186] [0186] 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 displacement member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 can comprise an articulating anvil 2516 and, when configured for use , an ultrasonic blade 2518 positioned on the opposite side of 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 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, the 2504 motor can drive the displacement member distally along from the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, the I-shaped rod 2514 with a cutting element positioned at a distal end, can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[0187] [0187] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the I-shaped rod 2514, for example, based on one or more tissue conditions . The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. The 2510 control circuit can be programmed to select a control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker fabric is present, the 2510 control circuit can be programmed to move the displacement member at a lower speed and / or with a lower power. When a thinner fabric is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[0188] [0188] In one aspect, control circuit 2510 can initially operate motor 2504 in an open circuit configuration for a first open circuit portion of a travel of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a translation of the distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed loop portion of the stroke, control circuit 2510 can modulate motor 2504 based on translation data that describes a position of the displacement member in a closed circuit manner to translate the displacement member at a constant speed.
[0189] [0189] Figure 15 illustrates a diagram 2580 that plots two exemplifying courses of the displacement member performed according to one aspect of the present description. Diagram 2580 comprises two geometric axes. A horizontal geometric axis 2584 indicates the elapsed time. A vertical axis 2582 indicates the position of the I-shaped rod 2514 between an initial position of stroke 2586 and an end position of stroke 2588. On horizontal axis 2584, control circuit 2510 can receive the trigger signal and start provide the initial motor configuration at t0. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between t0 and t1.
[0190] [0190] A first example 2592 shows a response from the surgical instrument 2500 when a thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example , the initial time period between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that that position 2594 corresponds
[0191] [0191] During the initial time period (for example, the open circuit period) between t0 and t1, the I-shaped rod 2514 can move from the initial position of stroke 2586 to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the travel member at a constant selected speed (Fast). Because the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to the movement of the I-profile rod 2514. As a result, the I-profile rod 2514 can move a larger portion of the course over the initial time period. In addition, in some instances, a thinner fabric (e.g., a larger portion of the displacement limb travel during the initial time period) may correspond to higher velocities of the displacement member after the initial time period. Closed-loop feedback control of the motor speed of a surgical stapling and cutting instrument based on the magnitude of the speed error measurements
[0192] [0192] When using a motorized surgical cutting and stapling instrument, it is possible that an error occurs in the speed control system between the control speed and the average speed.
[0193] [0193] Figures 16 to 22 illustrate various graphical representations and processes for determining the error between a directed speed of a displacement member and the actual speed of a displacement member and adjusting the directed speed of the displacement member based on the error. In the aspects illustrated in Figures 16 to 22, the displacement member is the I-shaped profile 2514. In other aspects, however, the displacement member can be the driving member 120 (Figure 2), the firing member 220, 2509 (Figures 3, 13), the trigger bar 172 (Figure 4), the I-shaped rod 178, 2514 (Figures 4, 13, 14) or any combination of them.
[0194] [0194] With reference to Figure 16, a graph 8500 is shown that represents the speed (v) of a displacement member as a function of displacement (δ) of the displacement member according to an aspect of the present description. In the illustrated aspect, the displacement (δ) of the I-profile rod 2514 is shown along the horizontal geometric axis 8502 and the speed (v) of the I-profile rod 2514 is shown along the vertical geometric axis 8504. if it is understood that the speed of motor 2504 can be shown along the vertical geometric axis 8504 instead of the speed of the I-profile rod 2514. The function shown on the dashed line represents the directed speed 8506 of the I-profile rod 2514 and the function shown as a continuous line represents the
[0195] [0195] Figure 17 is a 8510 graph representing the velocity (v) of a displacement member as a function of displacement (δ) of the displacement member according to an aspect of the present description. In the illustrated aspect, the displacement (δ) (mm) of the rod with I 2514 profile is shown along the horizontal geometric axis 8512 and the speed (v) (mm / s) of the rod with I 2514 profile is shown along of the vertical geometric axis 8514. The horizontal geometric axis 8512 is dimensioned to represent the displacement of the I-shaped rod 2514 along a length X of the staple cartridge 2518, such as staple cartridges from 10 to 60 mm, for example . In one aspect, for a 25 mm 2518 cartridge, the displacement of the 2514 I-profile rod is 60 mm and the speed of the 2514 I-profile rod varies from 0 to 30 mm / s. The function shown on the dashed line represents the directed speed 8506 of the I-shaped rod 2514 and the function shown on the continuous line represents the actual speed 8508 of the I-shaped rod
[0196] [0196] With reference to the first zone 8516, at the beginning of the stroke, the control circuit 2510 provides a setpoint of the motor 2522 to the control of the motor 2508, which applies a motor start signal 2524 that has a first duty cycle (DS1) to motor 2504 to adjust the directed speed 8506 of the I-profile rod 2514 to V2. As the I-shaped rod 2514 advances distally, the position sensor 2534 and the timer / counter circuit 2531 track the position and time, respectively, of the I-profile rod 2514 to determine the actual position and the actual speed 8508 of the I-profile rod 2514. As the position of the I-profile rod 2514 approaches δ1, the actual speed 8508 begins a positive transition towards the directed speed 8506. As shown, the actual speed 8508 slows down the targeted speed 8506 in S1 and delayed targeted speed 8506 by a cumulative error C1 over a period of time. In δ1 the rate of change in the actual speed 8508 is R1. As the rod with I 2514 profile advances distally towards δ2, the actual speed 8508 exceeds N11, N12 ... N1n and the directed speed 8506 and eventually establishes itself at the directed speed 8506.
[0197] [0197] In relation to the second zone 8518, at δ2, the control circuit 2510 provides a new setpoint of the motor 2522 to the control of the motor 2508, which applies a new start signal of the motor 2524 that has a second cycle (DS2) to motor 2504 to decrease the directed speed 8506 of the I-profile rod 2514 to V1. At δ2, the actual speed 8508 of the I-profile rod 2514 initiates a negative transition to the lower directed speed
[0198] [0198] In relation to the third zone 8520, at δ3 the control circuit 2510 provides a new setpoint of the motor 2522 to the control of the motor 2508, which applies a new start signal of the motor 2524 that has a third cycle of work (DS3) to motor 2504 to increase the directed speed 8506 of the I-profile rod 2514 for V3. At δ3 the actual speed 8508 of the I-profile rod 2514 begins a positive transition to the highest directed speed 8506. As the rod with I-profile 2514 advances distally, the actual speed 8508 delays the directed speed 8506 by S31 and slows the directed speed 8506 by a cumulative error C31 over a period of time and the rate of change of the actual speed 8508 is R31. As the I-shaped profile 2514 advances distally, the actual speed 8508 approaches the directed speed 8506 at a rate of R32 decreasing the delay error to S32 and increasing the cumulative error in C32 over a period of time. As the rod with I 2514 profile advances towards the end of travel, the actual speed 8508 exceeds N31, N32, N33 ... N3n the directed speed 8506 and eventually establishes itself at the directed speed 8506.
[0199] [0199] In another aspect, the surgical instrument control system 2500 employs PID control errors to control the motor speed based on the magnitude of the PID error terms SC, R, N over the course of the I-profile rod 2514. As the I-profile rod 2514 passes through the staple cartridge 2528, a change in the directed speed 8506 can be based on errors measured between the actual speed 8508 and the directed speed 8506. For example, in the 2500 instrument speed control system, an error term is created between the target speed 8506 and the actual measured speed 8508. The magnitude of these error terms can be used to adjust a new speed. - targeted quality 8506. The terms of error of interest may include, for example, short term, steady state and accumulation. Different error terms can be used in different zones 8516, 8518, 8520 (for example, ramp up, intermediate, last). Different error terms can be expanded differently based on their importance within the algorithm.
[0200] [0200] Figure 18 is an 8530 graph of the velocity (v) of a displacement member as a function of displacement (δ) of the displacement member that represents a condition for changing the target speed limit 8506-1 accordingly with an aspect of this description. In the illustrated aspect, the displacement (δ) (mm) of the I-shaped profile 2514 is shown along the geo-
[0201] [0201] In one aspect, the error speed between the actual speed 8508 and the directed speed 8506 of the displacement member (for example, the rod with I 2514 profile) VDM can be represented by Equation 1: Eq 1 where A, B, and D are coefficients and S is the short-term error, C is the cumulative error and R is the change error rate. In relation to Figure 18, if the sum of the errors is less than the error limit Z, as represented by Equation 2: Eq. 2 The control circuit 2510 determines that the error is within the limit Z and not at the directed speed 8506. Consequently, the directed speed 8506-1 is maintained until the next predetermined position of the I-shaped profile 2514. If the sum of errors is greater than the error limit Z, as represented by Equation 3: Eq. 3 Control circuit 2510 determines that the error is outside the Z limit and sets the target speed 8506 to a lower target speed 8506-2.
[0202] [0202] Figure 19 is an 8540 graph that illustrates the conditions for changing the directed speed 8506 of a displacement member according to an aspect of the present description. In the illustrated aspect, the displacement of the I-shaped profile 2514 is shown along the horizontal geometric axis 8541 and the cumulative error (S + C + R) is shown along the vertical geometric axis 8544. An error curve 8546 represents the change in cumulative error as a function of the displacement of the I-profile rod 2514. Along the vertical geometry axis 8544, various error limits -Y, -Z, 0, + Z, + Y are marked. As the 8546 error curve crosses the various error limits -Y, -Z, 0, + Z, + Y, the control circuit 2510 of the speed control system of the surgical instrument 2500 moves to a new directed speed at a different rate or does not travel and maintains the current targeted speed. A cumulative error of 0 along the horizontal geometric axis 8542 represents the condition that there is no difference between the directed speed and the actual speed of the I-profile rod 2514. When the cumulative error is within the error limits + Z, the 2510 control circuit of the speed control system does not make adjustments to the directed speed. If the cumulative error is between the Z and Y limits or between the -Z and -Y limits, the 2510 control circuit of the speed control system moves to a new speed directed to the first indicated displacement rate, in graph 8540 , as the displacement rate 1. If the cumulative error exceeds the ± Y error limits, the 2510 control circuit moves to a new speed directed to a second displacement rate, shown in graph 8540, as the displacement rate 2 , in which the displacement rate 2 is greater than the displacement rate 1, for example.
[0203] [0203] In relation to graph 8540 in Figure 19, the control circuit 2510 of the speed control system of the surgical instrument 2500 does not perform any action during an initial displacement of the I-profile rod 2514 between δ0 and δ1 . Consequently, during the initial displacement (δ1 to δ0), cumulative error 8548 returns to zero as the actual speed approaches the directed speed.
[0204] [0204] Figure 20 is a logical flow chart of an 8600 process that represents a control program or a logical configuration for controlling the speed of a displacement member based on the position of a displacement member and the actual speed of the displacement member according to one aspect of the present description. In relation also to the speed of the control system of the surgical instrument 2500 shown in Figure 14, the control circuit 2510 determines 8602 the position of a displacement member, such as the rod with I-shaped profile 2514, using the position 2534 and timer / counter circuits 2531. Control circuit 2510 compares the position of the displacement member to a zone out of a plurality of zones 8516, 8518, 8520, as discussed together with Figure 17. Zones 8516, 8518, 8520 can be stored in memory. Control circuit 2510 determines 8604 in which zone 8516, 8518, 8520 the displacement member is located based on the position of the displacement member previously determined 8602. The control circuit 2510 then adjusts 8606 the motor setting 2522 and motor control 2508 sets the motor start signal 2524 to adjust the speed of motor 254 to achieve the desired directed speed of the travel member based on the zone. In one aspect, motor control 2508 adjusts motor 2524 drive signal to a duty cycle based on which zone 8516, 8518, 8520 travel member is located. Control circuit 2510 determines 8608 whether the displacement member is at the end of the stroke. If the displacement member is not at the end of the stroke, process 8600 continues along branch N and determines 8602 a new position for the displacement member. The 8600 process continues until the displacement member reaches the end of the stroke and proceeds along the YES branch and ends 8610.
[0205] [0205] Figure 21 is a logical flow chart of an 8600 process that represents a control program or a logical configuration for controlling the speed of a travel member based on the error measured between the directed speed of a travel member and the actual speed of the displacement member according to an aspect of the present description. In relation also to the speed of the control system of the surgical instrument 2500 shown in Figure 14, the control circuit 2510 determines 8702 the position of a displacement member, such as the rod with I-shaped profile 2514, using the position 2534 and the timer / counter circuits 2531. The control circuit 2510 then determines 8704 the actual speed of the travel member based on the position information received from the position sensor 2534 and the timer / counter circuits 2531 By determining speed 8704
[0206] [0206] The error can be calculated based on Equation 1 above. Control circuit 2510 determines 8712 whether the error is within the error limit. If the error is within the error limit (Equation 2), the 8700 process continues along the YES branch and maintains 8714 the directed speed at its current value. Control circuit 2510 then determines 8718 whether the displacement member is at the end of the stroke. If the displacement member is at the end of the course, process 8700 continues along the branch yes and ends 8720. If the displacement member is not at the end of the course, process 8700 continues along the branch NO and determines 8702 the new position of the displacement member. The 8700 process continues until the displacement member reaches the end of the stroke.
[0207] [0207] If the error exceeds the error limit (Equation 3), the 8700 process continues along the NO branch and sets the 8716 directed speed to a new value. The new directed speed may be higher or lower than the current directed speed of the displacement member. Control circuit 2510 then determines 8718 whether the displacement member is at the end of the stroke. If the displacement member is at the end of the stroke, process 8700 continues along the branch yes and ends 8720. If the displacement member is not at the end of the stroke, process 8700 continues along the branch NO and determines 8702 the new position of the displacement member. The 8700 process continues until the displacement member
[0208] [0208] Figure 22 is a logical flow chart of an 8700 process that represents a control program or a logical configuration for controlling the speed of a travel member based on the error measured between the directed speed of a travel member and the actual speed of the displacement member according to an aspect of the present description. In relation also to the speed of the control system of the surgical instrument 2500 shown in Figure 14, the control circuit 2510 determines 8702 the position of a displacement member, such as the rod with I-shaped profile 2514, using the position 2534 and timer / counter circuits 2531. Control circuit 2510 then determines 8804 the actual speed of the travel member based on the position information received from the position sensor 2534 and the timer / counter circuits 2531 By determining 8804 the actual speed of the displacement member, the control circuit 2510 compares 8806 the directed speed of the displacement member to the actual speed of the displacement member. Based on comparison 8806, control circuit 2510 determines 8808 the error between the directed speed of the travel member and the actual speed of the travel member and compares 8810 the error with multiple error limits. For example, in the illustrated example, the error is compared to two error limits as described together with Figure 19.
[0209] [0209] Control circuit 2510 determines 8812 whether the error is within the first error limits (± Z) as described in Figure 19. If the error is within the first error limits (± Z), the process continues over of the SIM branch and the 2510 control circuit maintains 8814 the directed speed without any change in displacement. Control circuit 2510 determines 8816 whether the
[0210] [0210] If the error is outside the first error limits (± Z), the 8800 process continues along the NO branch and the 2510 control circuit determines 8818 if the error exceeds the second error limits (± Y). If the error does not exceed the second error limits, control circuit 2510 determines that the error is between the error limits -Z and -Y or between the error limits + Z and + Y and proceeds along the branch. NO, and the 2510 control circuit adjusts 8820 the speed directed at a first rate of change. Control circuit 2510 determines 8816 the end of the stroke and proceeds to determine 8802 the new position of the displacement member. The 8800 process continues until the displacement member reaches the end of the stroke. If the error exceeds the second error limits, control circuit 2510 determines that the error exceeds the second error limits (± Y) and continues along the YES branch, and control circuit 2510 sets 8822 to speed directed to a second rate of change, which is greater than the first rate of change. In one aspect, the second rate of change is twice the first rate of change. It will be understood that the second rate of change may be higher or lower than the first rate of change. Control circuit 2510 determines 8816 the end of the stroke and proceeds to determine 8802 the new position of the displacement member. The 8800 process continues until the displacement member reaches the end of the stroke. It will be understood that additional error limits and corresponding rates of change can be implemented.
[0211] [0211] Various aspects of the subject described in this document are defined in the following numbered examples:
[0212] [0212] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member; and a timer circuit coupled to the control circuit, in which timer / counter circuit is configured to measure the elapsed time; where the control circuit is configured to: determine a position of the displacement member; determining an area in which the displacement member is located; and adjusting a directed velocity of the displacement member based on the zone in which the displacement member is located.
[0213] [0213] Example 2. Surgical instrument of Example 1, in which the control circuit is configured to: receive the position of the displacement member of the position sensor; receive the elapsed time of the timer circuit; and adjust the duty cycle of the motor based on the zone in which the displacement member is located.
[0214] [0214] Example 3. Surgical instrument of Example 2, in which the control circuit is configured to determine a real speed of the displacement member.
[0215] [0215] Example 4. Surgical instrument of Example 3, in which the control circuit is configured to determine an error between the directed speed of the displacement member and the actual speed of the displacement member.
[0216] [0216] Example 5. Surgical instrument of Example 4, in which the control circuit is configured to adjust a new directed velocity of the displacement member based on the error.
[0217] [0217] Example 6. Surgical instrument of Example 4, in which the error is based on at least one of a short-term error (S), a cumulative error (C), a rate of change error (R) and the overrun errors (N).
[0218] [0218] Example 7. Surgical instrument from Example 1 to Example 6 comprising an end actuator, in which the displacement member is configured to move within the end actuator.
[0219] [0219] Example 8. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; 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 a timer circuit coupled to the control circuit, in which timer / counter circuit is configured to measure the elapsed time; wherein the control circuit is configured to: adjust a directed speed of the displacement member; determining a position of the displacement member; determining the actual speed of the displacement member; comparing the directed speed of the displacement member to the actual speed of the displacement member; determining the error between the displacement member and the actual velocity of the displacement member; and adjust the directed speed of the displacement member based on the error.
[0220] [0220] Example 9. Surgical instrument of Example 8, in which the control circuit is configured to compare the error to an error limit.
[0221] [0221] Example 10. Surgical instrument of Example 9, in which the control circuit is configured to maintain the directed speed of the displacement member when the error is within the error limit.
[0222] [0222] Example 11. Surgical instrument of Example 9 and Example 10, in which the control circuit is configured to adjust the directed speed of the displacement member to change the directed speed when the error exceeds the error limit.
[0223] [0223] Example 12. Surgical instrument from Example 8 to Example 11, where the actual speed of the displacement limb is given by the following expression: where A, B and D are coefficients and S is a short-term error, C is a cumulative error and R is a rate of change error.
[0224] [0224] Example 13. Surgical instrument from Example 8 to Example 12 comprising an end actuator, in which the displacement member is configured to move within the end actuator.
[0225] [0225] Example 14. A surgical instrument, comprising: a displacement member configured to move within the surgical instrument; a motor coupled to 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; and a timer circuit coupled to the control circuit, in which timer / counter circuit is configured to measure the elapsed time; wherein the control circuit is configured to: adjust a directed speed of the displacement member; determining a position of the displacement member; determining the actual speed of the displacement member; comparing the directed speed of the displacement member to the actual speed of the displacement member; determining the error between the displacement member and the actual velocity of the displacement member; and adjusting the directed speed of the displacement member to a rate of change based on the error.
[0226] [0226] Example 15. Surgical instrument of Example 14, in which the control circuit is configured to compare the error to multiple error limits.
[0227] [0227] Example 16. Surgical instrument of Example 15, in which the control circuit is configured to adjust the directed speed of the displacement member at multiple rates of change based on the error.
[0228] [0228] Example 17. Surgical instrument from Example 15 to Example 16, where the control circuit is configured to: compare the error to a first error limit. and keep the speed directed when the error is within the first error limit.
[0229] [0229] Example 18. Surgical instrument of Example 17, in which the control circuit is configured to: compare the error to a second error limit. adjust the speed directed to a first rate of change when the error exceeds the first error limit and is within the second error limit.
[0230] [0230] Example 19. Surgical instrument from Example 17 to Example 18, in which the control circuit is configured to: compare the error to a second error limit; adjust the directed speed at a second rate of change when the error exceeds both the first error limit and the second error limit.
[0231] [0231] Example 20. Surgical instrument from Example 14 to Example 19, where the error is based on at least one of a short-term error (S), a cumulative error (C), a rate of change error (R ) and the number of overshoot errors (N).
[0232] [0232] When using a motorized surgical cutting and stapling instrument, it is possible that the speed of the cutting member or the firing member may need to be measured and adjusted to compensate for tissue conditions. In thick fabric, speed can be decreased to decrease the firing force experienced by the cutting member or firing member, if the firing force experienced by the cutting member or firing member is greater than a limit force . In thin tissue, speed can be increased if the firing force experienced by the cutting member or the firing member is less than a threshold. Therefore, it may be desirable to provide a closed loop feedback system that measures and adjusts the speed of the cutting member or the firing member based on a measurement of time over a specific distance. It may be desirable to measure the speed of the cutting member by measuring the time at fixed adjusted displacement intervals.
[0233] [0233] The present description now refers to a closed loop feedback system to provide speed control for a displacement member. The closed loop feedback system adjusts the speed of the travel member based on a real-time measurement over a specific travel distance or range of the travel member. In one respect, the closed loop feedback system comprises two phases. A start phase defined as the start of a firing stroke followed by a dynamic firing phase, while the I-profile rod 2514 advances distally during the firing stroke. Figures 23A and 23B show the 2514 I-shaped rod positioned at the start of the firing stroke. Figure 23A illustrates an end actuator 2502 comprising a firing member 2520 coupled to an I-shaped rod 2514 that comprises a cutting edge 2509. Anvil 2516 is in the closed position and the I-shaped rod 2514 is located in a proximal or stationary position 9002 at the bottom of the closing ramp 9006. The stationary position 9002 is the position of the I-profile rod 2514 before the upward travel of the closing ramp 9006 from the 2516 to the top of the ramp 9006 to the slot with a T-profile 9008. A top pin 9080 is configured to engage a slot with a T-profile 9008 and a locking pin 9082 is configured to engage a characteristic lock feature 9084.
[0234] [0234] In Figure 23B the rod with I-2514 profile is located in a target position 9004 at the top of the 9006 ramp with the top pin 2580 engaged in the slot with the T-profile 9008. As shown in Figures 23A and 23B, when if you move from stationary position 9002 to target position 9004, the I-shaped rod 2514 travels a distance indicated as Xo in the horizontal distal direction. During the start phase, the speed of the I-shaped profile 2514 is adjusted to a predetermined initial speed Vo. A control circuit 2510 measures the real time that the rod with I-profile 2514 takes to travel up ramp 9006 from stationary position 9002 to target position 9004 at initial speed Vo. In one aspect, the horizontal distance is 4.1 mm and the initial speed Vo is 12 mm / s. As described in more detail below, the real time to is used to adjust the command speed of the I 2514 profile rod as slow, medium or fast in the Z zone of the subsequent staple cartridge as the I 2514 profile rod advances distally. The number of zones can depend on the length / size of the staple cartridge (for example, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm,> 60 mm). The control speed or set speed is the speed of the motor 2504 which is applied to the motor 2504 by means of the control circuit 2510 and the motor control 2508 in order to achieve the desired speed of the I-profile rod 2514. A The actual speed of the I-profile rod 2514 is determined by the control circuit 2510 by measuring, with the time / counter circuit 2531, the real time that the I-profile rod 2514 takes to traverse a fixed distance or specific provided by the 2534 position sensor. According to one aspect of the present description, the closed loop feedback control system of the surgical instrument measures the real time tn that the I 2514 shaped rod, or a limb of displacement, it takes to travel a fixed distance or a predetermined Xn displacement interval. A predetermined fixed distance or travel range Xn is defined for each zone (for example, Z 1, Z 2, Z3 ... Z n).
[0235] [0235] Figure 24 illustrates the firing stroke of the I-shaped profile 2514, which is illustrated by a graph 9009 aligned with end actuator 2502 according to one aspect of the present description. As shown, the initial zone (Zo), or base zone, is defined as the distance traveled by the I-profile rod 2514 from stationary position 9002 to target position 9004. The measured time To is the time that the I-profile rod 2514 leads upwardly through the closing ramp 9006 to target position 9004 at an initial setting speed Vo. The times T1 to T5 are periods of reference time to cross the corresponding zones Z1 to Z5, respectively. The displacement of the I-shaped profile 2514 in the Zo zone is Xo. The To period, which is the time it takes the I-shaped profile 2514 to travel a distance Xo, is used to adjust the control speed in the subsequent Z1 zone.
[0236] [0236] In relation to Figures 14 and 15 and 23A to 24, in the beginning
[0237] [0237] During the dynamic firing phase, the surgical instrument enters the dynamic firing phase, in which the 2510 control circuit is configured to monitor the δn displacement interval of the I-shaped profile 2514 and measure the time tn that the I-profile rod
[0238] [0238] For 2518 staple cartridges over 60 mm, the pattern continues, but the last 10 to 15 mm continue at a specified control speed from the previous zone indicated pending further interventions for the end of travel, between others. At the end of each zone, the actual time tn that the I-2514 shaped rod takes to traverse the zone is compared to the values in other tables (for example, Tables 2 to 5 below) to determine how to adjust the command speed for the next zone. The command speed is updated to the next zone and the process continues. Whenever the command speed is updated, the next zone will not be evaluated. The end of the course is treated according to a predetermined protocol / algorithm of the surgical instrument, including limit switches, controlled deceleration, etc. At the end of the stroke, the I-profile rod 2514 returns to the initial stationary position of the I-profile rod 9002 at rapid speed. The end of the return stroke (return to stationary position 9002) is treated according to the protocol / algorithm of the surgical instrument. Other zones can be defined without limitation. Table 2 - Time to traverse the zones at the specified command speed for various dynamic firing zones Time (s) to traverse the zone at the specified command dynamic firing zone speed (mm) Fast Medium Slow First zone (X1 mm long) t <t1 t1 <t <t2 t> t2 Intermediate areas (X2 mm long) t <t3 t3 <t <t4 t> t4 Last measured zone (X3 mm long) t <t5 t5 <t <t6 t> t6 Table 3 - Non-limiting examples for traversing zones at the specified command speed for various dynamic firing zones Time (s) for traversing the zone at the specified command dynamic firing zone (mm) Fast Medium Slow First zone (5 mm long) t <0.5 0.5 <t <0.6 t> 0.6 Intermediate areas (10 mm long) t <0.9 0.9 <t <1.1 t> 1.1 Last measured zone (10 mm long) t <1.0 1.0 <t <1.3 t> 1.3 Table 4 - Algorithm to adjust the speed based on time to climb the ramp A lgoritmo ta (s) tb (s) If the time t (s) for the I-shaped rod to go up the ramp is ... t1 <t <t2 t> t2 to t3 Then, the initial velocity V of rod with I profile in the slot with V1 profile (mm / s) V2 (mm / s) T is ... And the automatic speed is set as ... AVERAGE FAST Table 5 - Non-limiting example of algorithm to adjust the speed de based on the time to climb the ramp Algorithm ta (s) tb (s) If the time t (s) for the I-shaped rod to ascend the ramp is ... 0.0 <t <0.9 t > 0.9 to 1.8 So the initial speed of the I-shaped rod in the slot with the T-profile 30 mm / s 12 mm / s is ... And the automatic speed is set as ... AVERAGE FAST
[0239] [0239] In one aspect, Tables 1 to 5 can be stored in the memory of the surgical instrument. Tables 1 to 5 can be
[0240] [0240] Figure 25 is a graphical representation 9100 that compares the displacement interval δn of the stem stroke with I-shaped profile 2514 as a function of time 9102 (upper graph) and the expected stopping force of the stem with I 2514 profile as a function of time 9104 (bottom graph) according to one aspect of the present description. In relation to the upper graph 9102, the horizontal geometric axis 9106 represents the time (t) in seconds (s) from 0 to 1.00X, where X is a scaling factor. For example, in one aspect, X = 6 and the horizontal geometric axis 9106 represent time from 0 to 6 s. The vertical geometric axis 9108 represents the displacement (δ) of the I-shaped rod 2514 in millimeters (mm). The displacement interval δ1 represents the stroke 9114 of the I-shaped profile 2615 or the displacement at the top of the 9006 ramp (Figures 23A, 23B) for thin fabric and medium thickness fabric. The time for the 2514 I-profile rod to reach the top of the 9114 ramp course for thin fabric is t1 and the time for the 2514 I-profile rod to reach the top of the 9114 ramp course for medium-thickness fabric is t2. As shown, t1 <t2, so that the I-shaped rod 2514 takes less time to reach the top of the 9114 ramp for thin fabric than for thick or medium fabric. In one example, the top of the δ1 travel range of the 9114 ramp travel is about 4.1 mm (01.60 inches) and the time t1 is less than 0.9 s (t1 <0.9 s) and time t2 is greater than 0.9 s, but less than 1.8 s (0.9 <t2 <1.8 s). Consequently, in relation to Table 5, the speed to reach the top of the 9114 ramp course is fast for thin and medium fabric for medium thickness fabric.
[0241] [0241] In relation to the lower graph 9104, the horizontal geometric axis 9110 represents time (t) in seconds (s) and has the same scale as the horizontal geometric axis 9106 of the upper graph 9102. The vertical geometric axis 9112, in the However, it represents the expected firing force (F) of the I-shaped profile 2514 in Newtons (N) for the 9116 thin tissue firing force graph and the 9118 medium thickness tissue firing strength graph. The 9116 thin tissue firing force graph is less than the 9118 medium thickness tissue firing strength graph. The F1 peak strength for the 9116 thin tissue firing strength graph is less than the peak force F2 for the force graph for firing medium-thickness fabric 9118. In addition, for the top and bottom graphics 9102, 9104, the initial speed of the I-profile rod 2514 in the Zo zone can be determined based on the estimated tissue thickness. As shown by the thin tissue firing force graph 9116, the I-shaped rod 2514 reaches the top peak force F1 of the 9114 ramp stroke at a fast initial speed (for example, 30 mm / s) and , as shown by the medium thickness fabric firing force graph 9118, the I-shaped rod 2514 reaches the top of the peak force F2 of the 9114 ramp course at an average initial speed (for example, 12 mm / s). When the starting speed in zone Zo is determined, control circuit 2510 can adjust the estimated speed of the I-profile rod 2514 in zone Z1, and so on.
[0242] [0242] Figure 26 is a graphical representation 9200 that compares the thickness of the tissue as a function of the adjusted travel range of the stem stroke with I-shaped profile 9202 (upper graph), the force for firing as a function of the adjusted travel range of the stem stroke with I-shaped profile 9204 (second graph from above), dynamic time checks as a function
[0243] [0243] The tissue thickness chart 9202 shows a profile of tissue thickness 9220 along the staple cartridge 2518 and an indicated thickness 9221, as shown by the horizontal dashed line. The firing force graph 9204 shows the firing force profile 9228 along the staple cartridge 2518. The firing force 9230 remains relatively constant as long as the
[0244] [0244] In relation to Figures 14, 24 to 26 and Tables 2 and 3, speed V1 in zone Z1 is adjusted to the command speed Vo determined by control circuit 2510 in zone Zo, which is based on the time that the rod with I 2514 profile takes it to move to the top of the 9006 ramp in the Zo zone, as discussed in relation to Figures 23A, 23B and 25. In relation to the graphics 9206, 9208 in Figure 26, the initial adjusted speed Vo was set as average and therefore the set speed V1 in zone Z1 is set as average, so that V1 = Vo.
[0245] [0245] In the set travel position δ1 (for example, 5 mm for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z1 and enters zone Z2, the control circuit 2510 measures the real time t1 that the I-shaped stem 2514 takes to travel the adjusted travel range X1 (5 mm in length) and determines the actual speed of the I-shaped stem
[0246] [0246] In the set travel position δ2 (for example, 15 mm for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z2 and enters zone Z3, the control circuit 2510 measures the real time t2 that the rod with I-2514 profile takes to traverse the adjusted travel range X2 (10 mm long) and determines the real speed of the rod with I-2514 profile. In relation to graphs 9606 and 9608 in Figure 26, in the adjusted displacement position δ2, the real time t2 that the I-profile rod 2514 takes to traverse the displacement interval X2 is t2 = 0.95 s. According to Table 3, an actual travel time t2 = 0.95 s in zone Z2 requires that the control or adjusted speed V2 in zone Z2 be adjusted as an average. Consequently, the control circuit 2510 does not reset the control speed for zone Z3 and maintains it as an average.
[0247] [0247] In the set travel position δ3 (for example, 25 mm for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z3 and enters zone Z4, the control circuit 2510 measures the real time t3 that the rod with I-2514 profile takes to traverse the adjusted travel range X3 (10 mm long) and determines the real speed of the rod with I-2514 profile. In relation to graphs 9606 and 9608 in Figure 26, in the adjusted displacement position δ3, the real time t3 that the I-profile rod 2514 takes to traverse the displacement interval X3 is t3 = 1.30 s. According to Table 3, an actual travel time t3 = 1.30 s in zone Z3 requires that the control or adjusted speed V4 in zone Z4 be set to slow. This is due to the fact that the actual travel time of 1.3 s is greater than 1.10 s and is outside the previous range. Consequently, the 2510 control circuit determines that the actual speed of the I-profile rod 2514 in zone Z3 was slower than expected due to external influences, such as thicker than expected tissue, as shown in the 9224 tissue region. graph 9202. Consequently, control circuit 2510 readjustes the control speed V4 in zone Z4 from medium to slow.
[0248] [0248] In one aspect, the 2510 control circuit can be configured to disable the reset speed in a zone after a zone in which the speed has been reset. In other words, whenever the speed is updated in a current zone, the subsequent zone will not be evaluated. When the speed is updated in zone Z4, the time it takes the I-profile rod 2514 to traverse zone Z4 will not be measured at the end of zone Z4 at the set travel distance δ4 (for example, 35 mm for a 60 mm staple cartridge. Consequently, the speed in the Z5 zone will remain the same as the speed in the Z4 zone, and dynamic time measurements will resume at the δ5 offset position (for example, 45 mm for a 60 mm staple cartridge) .
[0249] [0249] At the set travel position δ5 (for example, 45 mm for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z5 and enters zone Z6, the control circuit 2510 measures the real time t5 that the rod with I-2514 profile takes to traverse the adjusted travel range X5 (10 mm long) and determines the real speed of the rod with I-2514 profile. In relation to graphs 9606 and 9608 in Figure 26, in the adjusted displacement position δ5, the real time t5 that the I-profile rod 2514 takes to traverse the adjusted displacement interval X5 is t5 = 0.95 s. According to Table 3, an actual travel time t5 = 0.95 s in zone Z5 requires that the control or adjusted speed V6 in zone Z6 be set to high. This is due to the fact that the actual travel time of 0.95 s is less than 1.00 s and is outside the previous range. Consequently, the control circuit
[0250] [0250] Figure 27 is a 9300 graphical representation of the firing force as a function of time, comparing the slow, medium and fast displacement speeds of the I-profile rod 2514 according to one aspect of the present description. The horizontal geometric axis 9302 represents the time t (s) that an I-shaped rod takes to pass through a staple cartridge. The vertical geometric axis 9304 represents the firing force F (N). The graphical representation shows three force curves for tripping as a function of the separated time. A first 9312 firing force curve represents a rod with an I-profile 2514 (Figure 14) traversing a thin fabric 9306 at a rapid speed and reaching a maximum firing force F1 at the top of the 9006 ramp (Figure 23B) at t1 . In one example, a fast traverse speed for the 2514 I-shaped rod is ~ 30 mm / s. A second force curve for firing 9314 represents a rod with an I-profile 2514 traversing a medium fabric 9308 at an average speed and reaching a maximum firing force F2 at the top of the 9006 ramp at t2, which is greater than t1 . In one example, an average traverse speed for the 2514 I-shaped rod is ~ 12 mm / s. A third 9316 firing force curve represents an I-profile rod traversing a thick 9310 fabric at a slow speed and reaching a maximum firing force F3 at the top of the 9006 ramp at t3 that is greater than t2. In one example, a slow traverse speed for the 2514 I-shaped rod is ~ 9 mm / s.
[0251] [0251] Figure 28 is a logical flow chart of a 9400 process that represents a control program or a logical configuration for controlling the command speed in an initial trigger stage according to an aspect of the present description.
[0252] [0252] With timing information received from timer / counter circuit 2531 and position information received from position sensor 2534, control circuit 2510 measures 9408 the time it takes for the displacement member to move from position reference 9002 to target position 9004. Control circuit 210 adjusts control speed V1 9410 for the first zone Z1 based on the measured time to. As shown in Table 1, the various defined zones can be defined for staple cartridges of various sizes. Other zones, however, can be defined. Control circuit 2510 sets 9410 the control speed V1 for the first zone Z1 by comparing 9412 the time measured to the values stored in memory, such as, for example, stored in a query table (LUT). In one example, as generically indicated in Table 4 and as a specific example in Table 5, if the time it takes for the I-profile rod 2514 to travel ramp above 9006 from reference position 9002 to target position 9004 is between 0.0 and 0.9 s (0.0 s <to <0.9 s), then the control speed for the first zone Z1 is set to 9414 as FAST (for example, 30 mm / s). Otherwise, if the time to (s) for the I-shaped rod 2514 to move up the ramp 9006 from reference position 9002 to target position 9004 is greater than 0.9 s to 1.8 s (to> 0 , 9 s to 1.8 s), then the control speed for the first zone Z1 is set to 9416 as AVERAGE (for example, 12 mm / s). Subsequently, control circuit 2510 checks 9418 for blocking and for 9420 motor 2504, if there is a blocking condition. Otherwise, the control circuit enters 9422 in the dynamic trigger phase, as described below in relation to process 9450 in Figure 29.
[0253] [0253] Figure 29 is a logical flow chart of a 9450 process that represents a control program or a logical configuration to control the command speed in a dynamic trigger stage according to an aspect of the present description. In relation to Figures 14 and 23A to 27, control circuit 2510 adjusts 9452 to the initial command speed of motor 2504 for the first zone Z1 based on the initial time, as described in relation to process 9400 in Figure 28. As the shift member traverses the staple cartridge 2518, control circuit 2510 receives the position of the shift member from position sensor 2534 and timing information from the timer / counter circuit 2531 and monitors 9454 the position of the displacement member along the predefined zone Zn. At the end of the Zn zone, the control circuit 2510 measures 9456 the real time tn that the displacement member took to travel from the beginning of the Zn zone to the end of the Zn zone and compares 9458 the real time tn to a predetermined time for a specific zone, as shown generically in Table 2 and as a specific example in Table 3. The predetermined travel period Tn is the expected travel period of the travel member traveling at the currently set command speed Vn. The deviation between the actual displacement period Tn and the predetermined displacement period To is due, at least in part, to external influences that act on the displacement member, such as the effect of the thickness of the fabric on the cutting edge 2509 of the hash with I 2514 profile.
[0254] [0254] For example, in relation to Table 3, the time to travel through a zone at a specific command speed is provided for several dynamic firing zones. For example, if the dynamic firing zone is zone Z1 (5 mm long) and tn <0.5 s, the control speed for the next zone Z2 is set to FAST; if 0.5 <tn <0.6 s, the control speed for the next zone Z2 is set to AVERAGE; and if tn> 0.6 s, the control speed for the next zone Z2 is set to SLOW.
[0255] [0255] If, however, the dynamic firing zone is an intermediate zone Z2 to Z5 (10 mm long), for example, located between the first zone Z1 and the last zone Z6, and if tn <0.9 s , the control speed for the next zone Z2 is set to FAST; if 0.9 <tn <1.1 s, the control speed for the next zone Z Z3 to Z5 is set to AVERAGE; and if tn> 1.1 s, the control speed for the next zone Z Z3 to Z5 is set to SLOW.
[0256] [0256] Finally, if the dynamic firing zone is the last zone measured Z5 (10 mm long) and tn <1.0 s, the control speed for the last zone Z6 is set to FAST; if 1.0 <tn <1.3 s, the control speed for the last zone Z6 is set to AVERAGE; and if tn> 1.3 s, the control speed for the last zone Z6 is set to SLOW. Other parameters can be used not only to define the dynamic firing zones, but also to define the travel time across a zone at a specific command speed for various dynamic firing zones.
[0257] [0257] Based on the results of the 9458 comparison algorithm, the 2510 control circuit will continue the 9450 process. For example, if the 9458 comparison results indicate that the actual speed (FAST, AVERAGE, SLOW) in the previous zone Zn is equal to the previous control speed V1 (FAST, MEDIUM, SLOW), control circuit 2510 maintains 9460 control speed V1 for the next zone Zn + 1 equal to the previous control speed V1. Process 9450 continues to monitor 9454 the position of the displacement member along the next predefined zone Zn + 1. At the end of the next Zn + 1 zone, control circuit 2510 measures 9456 the time tn + 1 it took for the displacement member to travel from the beginning of the next Zn + 1 zone to the end of the next Zn + 1 zone and compares 9458 the real time tn + 1 over a predetermined period of time for a particular zone,
[0258] [0258] If the results of comparison 9458 indicate that the actual speed (FAST, AVERAGE, SLOW) in the front zone Zn is different from the previous control speed V1 (FAST, AVERAGE, SLOW), the control circuit 2510 resets 9462 or update the command speed for Vnova for the next Zn + 1 zone according to the algorithm summarized in Tables 2 and 3. If the command speed is readjusted 9462 or updated, control circuit 2510 maintains 9464 the speed of Vnova command for an additional Zn + 2 zone. In other words, at the end of the next Zn + 1 zone, the 2510 control circuit does not evaluate or measure time. The 9450 process continues to monitor 9454 the position of the displacement member along the next predefined zone Zn + 1 until the displacement member, for example, the I-profile rod 2514, reaches the end of stroke 9466 and returns the 9468 member of travel to reference position 9002.
[0259] [0259] Various aspects of the subject described in this document are defined in the following numbered examples:
[0260] [0260] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member
[0261] [0261] Example 2. Surgical instrument of Example 1, in which the control circuit is configured to: determine the adjusted travel interval in which the displacement member is located, in which the adjusted travel interval is defined by a starting position and an ending position; and measuring the time when the displacement member reaches the end position of the displacement interval.
[0262] [0262] Example 3. Surgical instrument from Example 1 to Example 2, in which the control circuit is configured to: compare the measured time to a predetermined time stored in a memory coupled to the control circuit; and determine the possibility to adjust or maintain the control speed based on the comparison.
[0263] [0263] Example 4. Surgical instrument of Example 3, in which the control circuit is configured to maintain the command speed for the subsequent zone equal to the command speed of the current zone, when the measured time is within a range of predetermined times.
[0264] [0264] Example 5. Surgical instrument from Example 3 to Example 4, in which the control circuit is configured to adjust the control speed for the subsequent zone other than the control speed of the current zone, when the measured time is out of a predetermined time range.
[0265] [0265] Example 6. Surgical instrument of Example 5, in which the control circuit is configured to ignore a time measurement for a subsequent zone, when the control speed is adjusted.
[0266] [0266] Example 7. Surgical instrument from Example 1 to Example 6, in which multiple zones are defined by a staple cartridge configured to operate with the surgical instrument.
[0267] [0267] Example 8. Surgical instrument of Example 7, in which at least two zones have a different length.
[0268] [0268] Example 9. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure the elapsed time; where the control circuit is configured to: receive, from the position sensor, a position of the displacement member in a current zone defined by a predetermined displacement interval; measure time as the displacement member moves from a stationary position to a target position; and adjusting a travel speed of the travel member for a first dynamic zone based on the measured time.
[0269] [0269] Example 10. Surgical instrument of Example 9, in which the control circuit is configured to compare the measured time to a predetermined time stored in a memory coupled to the control circuit.
[0270] [0270] Example 11. Surgical instrument of Example 10, in which the control circuit is configured to adjust the command speed for the initial zone to a first speed when the measured time is within a first time range and adjust the control speed for the initial zone at a second speed, when the measured time is within a second time range.
[0271] [0271] Example 12. Surgical instrument from Example 9 to Example 11, in which the control circuit is configured to determine a blocking condition and stop the engine.
[0272] [0272] Example 13. Method for controlling the speed of the motor in a surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, an engine coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, where the position sensor is configured to monitor the position of the displacement member , a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure the elapsed time, in which the method comprises: receiving, from a position sensor, a position of a displacement member within a current zone defined by an adjusted travel range; measure, by means of a timer circuit, a time in an adjusted position of the displacement member, where the time is defined by the time that the displacement member took to cross the displacement interval; and adjust, through the control circuit, a command speed of the
[0273] [0273] Example 14. Method of Example 13, which further comprises: determining, by means of the control circuit and the timing circuit, the adjusted travel range in which the travel member is located, in which the travel range is defined by a starting position and an ending position; and measuring, by means of the control circuit, the time in which the displacement member reaches the final position of the displacement interval.
[0274] [0274] Example 15. Method from Example 13 to Example 14, which further comprises: comparing, through the control circuit, the time measured to a predetermined time stored in a memory coupled to the control circuit; and determine, through the control circuit, the possibility to adjust or maintain the control speed based on the comparison.
[0275] [0275] Example 16. Method of Example 15, which further comprises maintaining, by means of the control circuit, the command speed for the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined time range.
[0276] [0276] Example 17. Method from Example 15 to Example 16, which further comprises adjusting the control speed for the subsequent zone by means of the control circuit other than the control speed of the current zone, when the time measured is outside a predetermined time range.
[0277] [0277] Example 18. Method of Example 17, which further comprises ignoring, by means of the control circuit, a time measurement for a subsequent zone, when the command speed is adjusted.
[0278] [0278] Example 19. Method from Example 13 to Example 18, which further comprises defining, by means of the control circuit, multiple zones that are defined for a staple cartridge configured to operate with the surgical instrument.
[0279] [0279] Example 20. Method of example 19, which further comprises defining, by means of the control circuit, at least two zones that have a different length. Motor speed feedback loop control of a surgical cutting and stapling instrument based on a measured travel distance traveled over a specific time interval
[0280] [0280] When using a motorized surgical cutting and stapling instrument, it is possible that the speed of the cutting member or the firing member may need to be measured and adjusted to compensate for tissue conditions. In thick fabric, speed can be decreased to decrease the firing force experienced by the cutting member or firing member, if the firing force experienced by the cutting member or firing member is greater than a limit force . In thin tissue, speed can be increased if the firing force experienced by the cutting member or the firing member is less than a threshold. Therefore, it may be desirable to provide a closed-loop feedback system that measures and adjusts the speed of the cutting member or that of the firing member based on a measurement of the distance traveled over a specific time increment. It may be desirable to measure the speed of the cutting member or the firing member by measuring the distance in fixed fixed time intervals.
[0281] [0281] The present description now refers to a closed loop feedback system to provide speed control for a displacement member. The closed loop feedback system adjusts the speed of the displacement member based on a measurement of time over a specific distance or displacement of the displacement member. In one aspect, the closed loop feedback system comprises two phases. A start phase defined as the start of a firing stroke followed by a dynamic firing phase, as the rod with I 2514 profile advances distally during the firing stroke. Figures 30A and 30B show the 2514 I-shaped rod positioned at the start of the firing stroke. Figure 30A illustrates an end actuator 2502 comprising a firing member 2520 coupled to an I-shaped rod 2514 which comprises a cutting edge 2509. Anvil 2516 is in the closed position and the I-shaped rod 2514 is located in a proximal or stationary position 9502 at the bottom of the closing ramp 9506. Stationary position 9502 is the position of the I-profile rod 2514 before going up the closing ramp 9506 from the anvil 2516 to the top of the ramp 9506 and inwards of the slot with a T-profile 9508 and, perhaps, a distance beyond a predetermined fixed initial time interval To, which is a fixed period of time over which the displacement of the displacement member is measured. A 9580 top pin is configured to engage a slot with a T-profile 9508 and a 9582 locking pin is configured to engage a characteristic 9584 lock feature.
[0282] [0282] In Figure 30B, the rod with I-2514 profile is located in a distal position 9504 at the end of the To interval with the top pin 2580 engaged in the slot with the T-profile 9508 and the bottom pin. As shown in Figures 30A and 30B, when moving from stationary position 9502 to distal position 9504, during the time interval To, the I-shaped rod 2514 travels a distance indicated as the actual measured displacement δo in the distal direction horizontal. During the start phase, the speed of the I-shaped profile 2514 is adjusted to a predetermined initial speed Vo. A control circuit 2510 measures the actual displacement δo traveled by the I-shaped rod 2514 over a predetermined time interval To from stationary position 9502 to distal position 9504 at initial speed Vo. In one aspect, at the initial command speed Vo of 12 mm / s, the actual measured horizontal displacement δo of the rod with I-shaped profile 2512 over a fixed time interval To = 0.8 s can be δo = 10.16 mm due to external influences acting on the cutting edge 2509 of the I-profile rod 2514. As described in more detail below, the time interval To is fixed and the actual displacement of the I-profile rod 2514 over the fixed time To is measured and is used to adjust the control speed of the I-shaped profile 2514 as slow, medium or fast in the subsequent staple cartridge zones Z1, Z2, Z3… Zn, as the stem with I 2514 profile advances distally. The number of zones may depend on the length / size of the staple cartridge (for example, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm,> 60 mm). The zones Z1 to Zn are defined in terms of fixed time intervals T1 to Tn, during which the control circuit 2510 measures the actual displacement of the displacement member.
[0283] [0283] The control speed or set speed is the speed of the 2504 motor that is applied to the 2504 motor by means of the control loop 2510 and the motor control 2508 in order to achieve a desired speed of the profile rod in I 2514. The actual speed of the I-profile rod 2514 is determined by the control circuit 2510 by measuring the position of the I-profile rod 2514 with the 2534 position sensor at fixed time intervals Tn determined by the timer / counter 2531. According to one aspect of this description, the closed loop feedback control system of the surgical instrument measures the actual displacement δn of the shaft with I 2514 profile, or a displacement member, along of a fixed interval of predetermined time Tn. Each zone Zn can be defined by a predetermined fixed time interval Tn during which the control circuit 2510 Measures the actual displacement δn of the displacement member, for example, the I-shaped rod 2514.
[0284] [0284] Figure 31 illustrates the firing stroke of the I-shaped profile 2514, which is illustrated by a graph 9509 aligned with the end actuator 2502 according to one aspect of the present description. As shown, the initial zone Zo, or the base zone, is the length of a fixed time interval To during which the I-shaped rod 2514 moves from stationary position 9502 to a distal position 9504, can vary based on the external influences that act on the I 2514 shaped rod, such as the thickness of the fabric. The initial time interval To is a fixed fixed time in which the I-shaped rod 2514 can move upward from the closing ramp 9506 and to the distal position 9504 at an initial set speed Vo. The actual displacement δo of the I-profile rod 2514 in zone Zo during the fixed period of time To is used to adjust the control speed in the subsequent zone Z1.
[0285] [0285] In relation to Figures 14 and 15 and 30A to 31, in the beginning phase, for example, at the start of a firing stroke, the 2510 control circuit is configured to start firing the trip member - cementing, such as the I-shaped profile 2514, at a predetermined speed Vo (eg 12 mm / s). During the start-up phase, the 2510 control circuit is configured to monitor the position of the I-profile rod 2514 and measure the actual displacement δo of the I-profile rod 2514 over a fixed time interval To from the position stationary 9502, or at the end of a low power mode of operation. The actual displacement δo of the displacement member over the fixed time interval To is used by control circuit 2510 to determine the firing speed of the I-shaped rod
[0286] [0286] During the dynamic firing phase, the surgical instrument employs dynamic firing control of the displacement member, in which the 2510 control circuit is configured to monitor the position of the I-profile rod 2514 and measure the actual displacement δn of the I-shaped profile 2514 during the time interval Tn, for example, from the beginning of a zone to the end of a zone, when the time interval Tn can be 0.4 s or 0.8 s , for example. In Figure 31, δ1 represents the actual displacement of the I-shaped profile 2514 from the beginning of zone Z1 to the end of zone Z1. Similarly, δ2 represents the distance traveled by the I-shaped profile 2514 from the beginning of zone Z2 to the end of zone Z2, and so on. Table 1 shows zones that can be defined for 2518 staple cartridges of various sizes. Table 1 - Zones defined for staple cartridges of various sizes Zones Z1 Z2 Z3 Z4 Z5 Z6 35 mm cartridge 0 to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s> 1 , 2 s N / AN / A 40 to 45 mm 0 to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s 1.2 to 1.6 s> 1.6 s N / A 55 to 60 mm 0 to 0.4 s 0.4 to 0.8 s 0.8 to 1.2 s 1.2 to 1.6 s 1.6 to 2.0 s> 2.0 s
[0287] [0287] For 2518 staple cartridges over 60 mm, the pattern continues, but the last 10 to 15 mm continue at a command speed or indicated from the previous zone pending further interventions for the end of travel, between others.
[0288] [0288] In one aspect, Tables 1 to 5 can be stored in the memory of the surgical instrument. Tables 1 to 5 can be stored in memory in the form of a query table (LUT), so that the control circuit 2510 can retrieve the values and control the control speed of the rod with I 2514 profile in each zone based on the values stored in the LUT.
[0289] [0289] Figure 32 is a graphical representation 9600 that compares the thickness of the tissue as a function of the adjusted time interval Tn of the stem stroke with I-shaped profile 9202 (upper graph), the triggering force as a function of adjusted time interval Tn of the stem travel with I-shaped profile 9604 (second graph from above), dynamic time checks as a function of the adjusted time interval Tn of the stem travel with I-shaped 9606 (third graphic from from above) and the adjusted speed of the I-shaped stem as a function of the adjusted time interval Tn of the I-shaped stem 9608 (bottom graph) according to one aspect of this description. The horizontal geometry axis 9610 for each of the graphs 9602, 9604, 9606, 9608 represents the adjusted time interval Tn of an I-profile rod stroke 2514 for a 60 mm staple cartridge, for example. Staple cartridges of different lengths can be readily replaced. In relation to Table 1, the horizontal geometric axis 9610 was marked to identify the defined zones Z1 to Z6 for a 60 mm staple cartridge. As shown in Table 1, defined zones can be marked for staple cartridges of various sizes. In relation to Figure 14, according to the present description, the control circuit 2510 samples the displacement of the rod with I-shaped profile 2514 at the adjusted time intervals received from the timer / counter circuit 2531 as the rod with profile in I 2514 it advances distally along the staple cartridge 2518 during the firing stroke. At the set time intervals, the control circuit 2510 samples the position of the I-shaped rod 2514 from the position sensor 2534 and determines the actual displacement δn of the rod with the I-profile 2514 during the time interval Tn . In this way, the 2510 control circuit can determine the actual speed of the I-profile rod 2514 and compare the actual speed to the estimated speed and make any necessary adjustments to the speed of the 2504 motor.
[0290] [0290] The tissue thickness graph 9602 shows a profile of tissue thickness 9620 along the staple cartridge 2518 and a thickness indicated in the tissue region 9621, as shown by the horizontal dashed line. The firing force graph 9604 shows the firing force profile 9628 along the staple cartridge 2518. The firing force 9630 remains relatively constant as long as the thickness of the tissue in the tissue region 9622 remains below the thickness indicated in the tissue region 9621 as the I-shaped profile 2514 crosses zones Z1 and Z2. As the rod with I 2514 profile enters the Z3 zone, the thickness of the tissue in the 9624 tissue region increases and the firing force also increases, while the rod with I 2514 profile passes through the thicker tissue in the zones of time Z3, Z4 and Z5. As the I-shaped rod 2514 leaves zone Z5 and enters zone Z6, the thickness of tissue 9226 decreases and the firing force 9234 also decreases.
[0291] [0291] In relation to Figures 14, 31 and 32 and Tables 2 and 3, the speed V1 in zone Z1 is adjusted to the speed Vo determined by the control circuit 2510 in zone Zo, which is based on the displacement δo of the rod with profile in I 2514 during the initial adjusted time interval To as discussed in relation to Figures 30A, 30B. In relation to the graphs 9606, 9608 in Figure 32, the initial set speed Vo was set as average and, therefore, the set speed V1 in zone Z1 is set as average, so that V1 = Vo.
[0292] [0292] At the set time t1 (for example, 0.4 s for a 60 mm staple cartridge), as the I-profile rod 2514 leaves zone Z1 and enters zone Z2, the control circuit 2510 measures the actual displacement δ1 of the I-profile rod 2514 over the adjusted time interval T1 (0.4 s duration) and determines the actual speed of the I-profile rod 2514. Regarding graphs 9606 and 9608 in Figure 32, at the adjusted time t1, the actual displacement δ1 of the rod with I-shaped profile 2514 over the adjusted time interval T1 is δ1 = 4.5 mm. According to Table 3, a real displacement of 4.5 mm in zone Z1 requires that the control speed or adjusted V2 in zone Z2 be adjusted as an average. Consequently, the 2510 control circuit does not reset the command speed for zone Z2 and maintains it as an average.
[0293] [0293] At the set time t2 (for example, 0.8 s for a 60 mm staple cartridge), as the rod with I-profile 2514 leaves zone Z2 and enters zone Z3, the control circuit 2510 measures the actual displacement δ2 of the I-profile rod 2514 over the adjusted time interval T2 (0.8 s duration) and determines the actual speed of the I-profile rod 2514. Regarding graphs 9606 and 9608 in Figure 32, at the adjusted time t2, the actual displacement δ2 of the rod with I-shaped profile 2514 over the adjusted time interval T2 is δ2 = 9.0 mm. According to Table 3, a real displacement of 9.0 mm in zone Z2 requires that the control speed or adjusted V2 in zone Z3 be adjusted as an average. Consequently, the 2510 control circuit does not reset the command speed for zone Z3 and maintains it as an average.
[0294] [0294] At the set time t3 (for example, 2.0 s for a 60 mm staple cartridge), as the rod with I-profile 2514 leaves zone Z3 and enters zone Z4, the control circuit 2510 measures the actual displacement δ3 of the I-profile rod 2514 over the set time interval T3 (0.8 s duration) and determines the actual speed of the I-profile rod 2514. Regarding graphs 9606 and 9608 in Figure 32, at the adjusted time t3, the actual displacement δ3 of the rod with I-shaped profile 2514 over the adjusted time interval T3 is δ3 = 7.5 mm. According to Table 3, a real displacement of 7.5 mm in zone Z3 requires that the control speed or adjusted V4 in zone Z4 be set to slow. This is due to the fact that the actual displacement of 7.5 mm is less than 8.0 mm and is outside the previous range. Consequently, the control circuit 2510 determines that the actual speed of the I-profile rod 2514 in zone Z3 was slower than expected due to external influences, such as more personal tissue than expected, as shown in the 9624 tissue region. in graph 9602. Consequently, control circuit 2510 readjustes the control speed V4 in zone Z4 from medium to slow.
[0295] [0295] In one aspect, the 2510 control circuit can be configured to disable the reset speed in a zone after a zone in which the speed has been reset. In other words, whenever the speed is updated in a current zone, the subsequent zone will not be evaluated. When the speed has been updated in zone Z4, the distance traveled by the I-shaped rod will not be measured at the end of zone Z4 at the set time t4 (for example, 2.8 s for a 60 mm staple cartridge. Consequently , the speed in zone Z5 will remain the same as the speed in zone Z4, and dynamic time measurements will resume at the set time t5 (eg 3.6 s for a 60 mm staple cartridge).
[0296] [0296] At the set time t5, as the rod with I-profile 2514 leaves zone Z5 and enters zone Z6, control circuit 2510 measures the actual displacement δ5 of the rod with I-profile 2514 over the interval of adjusted time T5 (0.8 s duration) and determines the real speed of the rod with I-shaped profile 2514. In relation to graphs 9606 and 9608 in Figure 32, at the adjusted time t5, the real displacement δ5 of the rod with I-shaped profile 2514 over the set time interval T5 is δ5 = 9.5 mm. According to Table 3, a real displacement of 9.5 mm in zone Z5 requires that the control speed or adjusted V6 in zone Z6 be set to high. This is due to the fact that the actual displacement of 9.5 mm is greater than 9.0 mm and is outside the previous range, the 2510 control circuit determines that the actual speed of the I-profile rod 2514 in the zone Z5 was faster than expected due to external influences, such as thinner than expected fabric, as shown in the 9626 fabric region in the graph
[0297] [0297] Figure 33 is a 9700 graphical representation of the firing force as a function of time that compares the slow, medium and fast travel speeds of the I-profile rod 2514 according to one aspect of the present description. The horizontal geometric axis 9702 represents the time t (s) that an I-shaped rod takes to pass through a staple cartridge. The vertical geometric axis 9704 represents the firing force F (N). The graphical representation shows three force curves for tripping as a function of the separated time. A first force curve for firing 9712 represents a rod with an I-profile 2514 (Figure 14) traversing a thin fabric 9706 at a fast speed and reaching a force for maximum firing F1 at the top of the ramp 9506 (Figure 30B) at t1 . In one example, a fast traverse speed for the 2514 I-shaped rod is ~ 30 mm / s. A second firing force curve 9714 represents a rod with an I-profile 2514 that passes through a medium fabric 9708 at an average speed and reaches a maximum firing force F2 at the top of ramp 9506 at t2, which is greater than t1. In one example, an average traverse speed for the 2514 I-shaped rod is ~ 12 mm / s. A third firing force curve 9716 represents a 251 I-shaped rod that passes through a thick fabric 9710 at a slow speed and achieves a maximum firing force F3 at the top of ramp 9706 at t3 that is greater than t2. In one example, a slow traverse speed for the 2514 I-shaped rod is ~ 9 mm / s.
[0298] [0298] Figure 34 is a logical flow chart of a 9800 process that represents a control program or a logical configuration for controlling the command speed in an initial trigger stage according to an aspect of the present description. In relation to Figures 14 and 23A to 27, the control circuit 2510 determines 9402 the reference position of the displacement member, such as the I-profile rod 2514, for example, based on the position information provided by the position sensor 2534 In the example of a rod with I 2514 profile, the reference position is the proximal or stationary position 9502 at the bottom of the closing ramp 9506, as shown in Figure 30B. When the reference position has been determined 9802, the control circuit 2510 and the motor control 2508 adjust the control speed of the motor 2504 to a predetermined control speed Vo and initiate 9804 the trip of the displacement member (for example , the I-shaped profile 2514) at the predetermined control speed Vo for the initial zone or base zone Zo. In one example, the initial predetermined command speed Vo is ~ 12 mm / s, however, another predetermined initial command speed Vo can be employed. Control circuit 2510 monitors 9806 the position of the displacement member with the position information received from the position sensor 2534 over a predetermined time interval To and records the actual displacement of the displacement member δo member at the end of the To- time interval as shown in Figure 30B. The predetermined displacement Xo is the expected displacement of the displacement member that travels at a current set command speed Vo. The deviation between the actual displacement δo and the predetermined displacement Xo is due, at least in part, to external influences that act on the displacement member, such as the effect of the fabric thickness on the cutting edge 2509 of the stem with profile in I 2514.
[0299] [0299] With timing information received from timer / counter circuit 2531 and position information received from position sensor 2534, control circuit 2510 measures 9808 the actual displacement δ of the displacement member over the time interval To. Based on the actual displacement δo and the set time interval To, control circuit 210 adjusts control speed V1 for the first zone Z1 9810. As shown in Table 1, multiple zones can be defined for staple cartridges of various sizes. Other zones, however, can be defined. The control circuit 2510 adjusts the control speed V1 for the first zone Z1 9810 by comparing 9812 to the actual displacement δo to values stored in memory, such as, for example, stored in a query table (LUT). In one example, as generically indicated in Table 4 and as a specific example in Table 5, if the actual displacement δo traveled by the displacement member over the fixed time interval To (s) of 0.8 is greater than 10 mm, then , the control speed for the first zone Z1 is set to 9814 as FAST (for example, 30 mm / s). Otherwise, if the actual displacement δo of the displacement member over the fixed time interval To (s) of 0.8 is less than or equal to 10 mm, then the control speed for the first zone Z1 9816 is set to AVERAGE (for example, 12 mm / s). Subsequently, control circuit 2510 checks for locking 9818 and for engine 2504 for 9820, if there is a blocking condition. Otherwise, the control circuit enters 9822 in the dynamic trigger phase, as described below in relation to the 9850 process in Figure 35.
[0300] [0300] Figure 35 is a logical flow chart of a 9850 process that represents a control program or a logical configuration to control the command speed in a dynamic trigger stage according to an aspect of the present description. With reference to Figures 14 and 30A to 34, control circuit 2510 adjusts 9852 to the initial command speed V1 of the motor 2504 for the first zone Z1 based on the displacement δo of the displacement member over the initial set time interval To, as described in relation to process 9800 in Figure 34. As the displacement member passes through the staple cartridge 2518, the control circuit 2510 receives the position of the displacement member from the position sensor 2534 and the timing information from the timer
[0301] [0301] For example, in relation to Table 3, the distance traveled by the displacement member through a zone at a specific command speed over a set time interval Tn is provided for several dynamic firing zones. For example, if the dynamic firing zone is Z1 (T1 = 0.4 s in duration) and the actual displacement δn <4 mm, the control speed for the next zone Z2 is set to FAST; if the actual displacement 4 <δn <5 mm, the control speed for the next zone Z2 is set to AVERAGE; and if the actual displacement δn> 5 mm, the control speed for the next zone Z2 is set to SLOW.
[0302] [0302] If, however, the dynamic firing zone is an intermediate zone Z2 to Z5 (T = 0.8 s in duration), for example, located between the first zone Z1 and the last zone Z6, and if the actual displacement δn <8 mm, the control speed for the next zone Z2 is set to FAST; if the actual displacement 8 <δn <10 mm, the control speed for the next zone Z3 to Z5 is set to AVERAGE; and if the actual displacement δn> 10 mm, the control speed for the next zone Z3 to Z5 is set to SLOW.
[0303] [0303] Finally, if the dynamic firing zone is the last zone in measure Z5 (T = 0.8 s in duration) and the actual displacement δn <7 mm, the control speed for the last zone Z6 is set as FAST; if the actual displacement 7 <δn <9 mm, the command speed for the last zone Z6 is set to AVERAGE; and if the actual displacement δn> 9 mm, the control speed for the last zone Z6 is set to SLOW. Other parameters can be used not only to define the dynamic firing zones, but also to define the travel time across a zone at a specific command speed for various dynamic firing zones.
[0304] [0304] Based on the results of the 9858 comparison algorithm, the 2510 control circuit will continue the 9850 process. For example, if the 9858 comparison results indicate that the actual speed (RAPID, MEDIUM, SLOW) in the previous zone Zn is equal to the previous command speed V1 (FAST, MEDIUM, SLOW), the control circuit 2510 maintains 9860 the command speed for the next zone Zn + 1 equal to the previous command speed. The 9850 process continues to monitor 9854 the position of the displacement member along the next predefined zone Zn + 1. At the end of the next Zn + 1 zone, control circuit 2510 measures 9856 the actual displacement δn + 1 of the displacement member over the predefined time interval Tn + 1 while moving from the beginning of the next Zn + 1 zone to the end of the next zone Zn1 and compares 9858 the actual displacement δn + 1 to a predetermined displacement Xn + 1 for a particular zone, as shown generically in Table 2 and as a specific example in Table 3. If there are no necessary changes in speed control, process 9850 until the displacement member, for example, the I-profile rod 2514, reaches the end of the stroke 9866 and return the displacement member 9868 to the reference position 9502.
[0305] [0305] If the results of comparison 9858 indicate that the actual speed (FAST, AVERAGE, SLOW) in the front zone Zn is different from the previous control speed V1 (FAST, AVERAGE, SLOW), the control circuit 2510 resets 9862 or update the control speed for Vnova for the next Zn + 1 zone according to the algorithm summarized in Tables 2 and 3. If the control speed is reset to 9862 or updated, control circuit 2510 maintains 9864 Vnova command for an additional Zn + 2 zone. In other words, at the end of the next Zn + 1 zone, the 2510 control circuit does not evaluate or measure displacement. The 9850 process continues to monitor 9854 the position of the displacement member along the next predefined zone Z n + 1 until the displacement member, for example, the I-shaped profile 2514, reaches the end of the 9866 stroke and returns 9868 the displacement member to reference position 9502.
[0306] [0306] Various aspects of the subject described in this document are defined in the following numbered examples:
[0307] [0307] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, in which the position sensor is configured to monitor a position of the displacement member; a timer circuit coupled to the control circuit, where the timer circuit is configured to measure the elapsed time; where the control circuit is configured to:
[0308] [0308] Example 2. Surgical instrument of Example 1, in which the control circuit is configured to: determine the adjusted time interval in which the displacement member is located, in which the adjusted time interval is defined by a start time and end time; and measuring the displacement of the displacement member at the end time of the adjusted time interval.
[0309] [0309] Example 3. Surgical instrument from Example 1 to Example 2, in which the control circuit is configured to: compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; and determine the possibility of adjusting or maintaining the control speed for the current zone based on the comparison.
[0310] [0310] Example 4. Surgical instrument of Example 3, where the control circuit is configured to adjust the command speed for the subsequent zone equal to the command speed of the current zone, when the measured displacement is within a range of predetermined displacements.
[0311] [0311] Example 5. Surgical instrument from Example 3 to Example 4, where the control circuit is configured to adjust the control speed for the subsequent zone other than the control speed of the current zone, when the measured displacement is outside of a predetermined range of displacements.
[0312] [0312] Example 6. Surgical instrument of Example 5, in which the control circuit is configured to ignore a displacement measurement for a subsequent zone, when the command speed is adjusted.
[0313] [0313] Example 7. Surgical instrument from Example 1 to Example 6, in which multiple zones are defined by a staple cartridge configured to operate with the surgical instrument.
[0314] [0314] Example 8. Surgical instrument of Example 7, in which at least two zones have different lengths.
[0315] [0315] Example 9. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, in which the position sensor is configured to monitor a position of the displacement member; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure the elapsed time; wherein the control circuit is configured to: receive, from the position sensor, a position of the displacement member in a current zone during an initial set time interval; measuring the displacement of the displacement member from a stationary position to a distal position during the initial adjusted time interval; and defining a command speed of the displacement member for a first dynamic zone based on the measured displacement from the stationary position to the distal position.
[0316] [0316] Example 10. Surgical instrument of Example 9, where the control circuit is configured to compare the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit.
[0317] [0317] Example 11. Surgical instrument of Example 10, where the control circuit is configured to adjust the command speed for the initial zone to a first speed when the measured travel is within a first travel range. - tos and adjust the control speed for the initial zone to a second speed, when the measured displacement is within a second displacement range.
[0318] [0318] Example 12. Surgical instrument from Example 9 to Example 11, in which the control circuit is configured to determine a blocking condition and stop the engine.
[0319] [0319] Example 13. Method for controlling the speed of the motor in a surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, an engine coupled to the displacement member to translate the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, where the position sensor is configured to monitor the position of the displacement member , a timer circuit coupled to the control circuit, in which the timer circuit is configured to measure the elapsed time, in which the method comprises: receiving, from a position sensor, a position of a displacement member within a zone predefined current defined by a predetermined distance; measure, by means of the control circuit, the displacement of the displacement member at an adjusted time at the end of the adjusted time interval, where the measured displacement is defined as the distance traveled by the displacement member during the adjusted time interval at a command speed set for the current zone; and adjust, by means of the control circuit, a control speed of the displacement member for a subsequent zone based on the displacement measured in the current zone.
[0320] [0320] Example 14. Method of Example 13, which further comprises: determining, by means of the control circuit and the timer circuit, the adjusted time interval in which the displacement member is located, in which the interval set time is defined by a start time and an end time; measure, by means of the timer circuit, the displacement of the displacement member in the final time of the adjusted time interval.
[0321] [0321] Example 15. Method from Example 13 to Example 14, which further comprises: comparing, through the control circuit, the measured displacement to a predetermined displacement stored in a memory coupled to the control circuit; and determine, through the control circuit, the possibility of adjusting or maintaining the control speed for the current zone based on the comparison.
[0322] [0322] Example 16. Method of Example 15, which further comprises adjusting, by means of the control circuit, the command speed for the subsequent zone equal to the command speed of the current zone when the measured displacement is within a predetermined range of displacements.
[0323] [0323] Example 17. Method from Example 15 to Example 16, which further comprises adjusting the control speed for the subsequent zone by means of the control circuit other than the control speed of the current zone, when the displacement measured is outside a predetermined range of displacements.
[0324] [0324] Example 18. Method of Example 17, which further comprises ignoring, by means of the control circuit, a displacement measurement for a subsequent zone, when the command speed is adjusted.
[0325] [0325] Example 19. Method from Example 13 to Example 18, which further comprises defining, by means of the control circuit, multiple predefined zones for a staple cartridge configured to operate with the surgical instrument.
[0326] [0326] Example 20. Method of Example 19, which further comprises defining, through the control circuit, at least two predefined zones that have different lengths. Closed-loop feedback control of the motor speed of a surgical cutting and stapling instrument based on the time measured over a specific number of drive shaft revolutions
[0327] [0327] When using a motorized surgical cutting and stapling instrument, it is possible that the speed of the cutting member or the firing member may need to be measured and adjusted to compensate for tissue conditions. In thick fabric, speed can be decreased to decrease the firing force experienced by the cutting member or firing member, if the firing force experienced by the cutting member or firing member is greater than a limit force . In thin tissue, speed can be increased if the firing force experienced by the cutting member or the firing member is less than a threshold. Therefore, it may be desirable to provide a closed loop feedback system that measures and adjusts the speed of the cutting member or the trigger member based on a measurement of time over a specific number of revolutions of the drive shaft. It may be desirable to measure the number of rotations of the drive shaft at a fixed time.
[0328] [0328] The present description now refers to a closed loop feedback system to provide speed control for a displacement member. The closed loop feedback system adjusts the speed of the displacement member based on a real-time measurement over a specific number of rotations of the drive shaft. In one aspect, the closed loop feedback system comprises two phases. A start phase defined as the start of a firing stroke followed by a dynamic firing phase, while the I-profile rod 2514 advances distally during the firing stroke. Figures 36A and 36B show the 2514 I-shaped rod positioned at the start of the firing stroke. Figure 36A illustrates an end actuator 2502 comprising a firing member 2520 coupled to an I-shaped rod 2514 comprising a cutting edge 2509. The anvil 2516 is in the closed position and the I-shaped rod 2514 is located in a proximal or stationary position 10002 at the bottom of the closing ramp 10006. The stationary position 10002 is the position of the I-profile rod 2514 before the upward travel of the closing ramp 10006 from anvil 2516 to the top of the ramp 10006 until slot with T-profile 10008 after a predetermined number of revolutions of the drive shaft. A top pin 10080 is configured to engage a slot with a T-profile 10008 and a locking pin 10082 is configured to engage a characteristic lock feature 10084.
[0329] [0329] In Figure 36B the rod with I-2514 profile is located in a target position 10004 at the top of the ramp 10006 with the top pin 10080 engaged in the slot with the T-profile 10008. As shown in Figures 14, 36A and 36B , when moving from stationary position 10002 to target position 10004, the I-shaped rod 2514 travels a distance indicated as Xo in the horizontal distal direction after a predetermined number of rotations of the drive shaft. Du-
[0330] [0330] Figure 37 illustrates a 10470 thread drive system that can be used with surgical instrument 10 (Figure 1) according to an aspect of the present description. In one aspect, the longitudinally movable drive member 120 (Figure 2) can be replaced by the screw drive system (sometimes called the nut drive) 10470. The 10470 screw drive system comprises a lead screw 10472, a ball screw or other mechanical linear actuator, adapted and configured to be coupled to the drive shaft 10474 of motor 82 (Figure 2) through drive gear 10478 to convert the rotational movement into linear motion. The lead screw 10472 is coupled to the firing member 220 by means of a nut 1476. The firing member 220 is coupled to the firing bar 172, which is coupled to the rod with I-shaped profile 178, as shown and described in relation to the Figures 2 to 4. Drive gear 10478, which is driven by drive shaft 1474 of motor 82, is adapted to rotate the screw drive system 10470.
[0331] [0331] The 10470 screw drive system comprises a lead screw 10472 and a nut 10476, also known as a power screw or translation screw, and is adapted to be coupled to the drive shaft 10474 of the motor 82 through of the drive gear 10478 to convert the rotational movement of the drive shaft 10474 of the motor 82 into linear movement of the displacement member, such as the I-profile rod 2514, for example, which is coupled to the 10476 nut. -
[0332] [0332] In one aspect, in relation to Figure 37 and also to Figures 2 to 4 and 10 to 12, the rotations of the drive shaft 10474 of engine 82 (Figure 2) or 1116 (Figure 10) can be measured by measuring the rotation of the drive shaft 1214 (Figure 11) coupled to drive gear 86 (Figure 2) using the absolute positioning system 1100 (Figures 10 and 12) and the position sensor 1200 ( Figures 11, 12). In relation to Figure 12, the position sensor 1200 for the absolute positioning system 1100 which comprises a magnetic rotating absolute positioning system can be used to measure the rotating magnetic position of the motor drive shaft. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[0333] [0333] In relation to Figure 38, the firing stroke of the I-profile rod 2514 is illustrated as a 9009 graph aligned with the end actuator 2502 according to an aspect of the present description. As shown, the initial zone (Zo), or base zone, is defined as the distance traveled by the I-profile rod 2514 from stationary position 10002 to target position 10004. The measured time To is the time that the I-profile rod 2514 leads upward from the closing ramp 10006 to target position 10004 at an initial set speed of Φrpm / s. The times T1 to T5 are reference time periods to cross the corresponding zones Z1 to Z5, respectively. The displacement of the I-shaped profile 2514 in the Zo zone is Θo rotations. The period To, which is the time it takes the I-shaped profile 2514 to travel a distance Θo, is used to adjust the control speed in the subsequent Z1 zone.
[0334] [0334] In relation to Figures 14 and 15 and 36A to 38, in the start phase, for example, at the start of a firing stroke, the 2510 control circuit is configured to start firing the trip member - cementing, such as the I-shaped profile 2514, at a predetermined speed (for example, 5 revolutions / s). During the start-up phase, the control circuit 2510 is configured to monitor the position of the rod with I 2514 profile and measure the time to (s) that the rod with I 2514 profile takes to move from stationary position 10002 from the I-profile rod 2514 to the target position 10004 of the I-profile rod 2514, both to the top of the closing ramp 10006 of burret 2516 and to the end of a low-power operating mode tence. The time to in the initial zone 10010 is used by the control circuit 2510 to determine the firing speed of the I-profile rod 2514 through the first zone Z1. For example, in one aspect, if the time to be <0.9 s, the speed φ1 can be adjusted as fast and, if time t-o ≥ 0.9 s, the speed φ1 can be adjusted as average. Faster or slower times can be selected based on the length of the 2518 staple cartridge. The actual time t1 to t5 that the I-profile rod 2514 takes to traverse a corresponding zone Z1 to Z5 is measured at an adjusted displacement δ1 to corresponding δ5 and is compared to a corresponding reference period T1 to T5. In several respects, if a blocking condition is found, the 2504 engine stops before the 2514 I-profile rod reaches the target position 10004. When this condition occurs, the monitor of the surgical instrument indicates the status of the instrument and can issue a stop warning. The monitor can also indicate a speed selection.
[0335] [0335] During the dynamic firing phase, the surgical instrument enters the dynamic firing phase, in which the 2510 control circuit is configured to monitor the δn rotation interval of the I-profile rod 2514 and measure the time tn that the I 2514 shaped rod leads to travel from the beginning of a zone to the end of a zone (for example, a total distance of 12 rotations or 23 rotations). In Figure 37, reference time T1 is the time it takes the I-profile rod 2514 to travel from the beginning of zone Z1 to the end of zone Z1 at an adjusted speed Φ1. Similarly, reference time T2- is the time it takes the I-shaped profile 2514 to travel from the beginning of zone Z2 to the end of zone Z2 at an adjusted speed V2, and so on . Table 1 shows zones that can be defined for 2518 staple cartridges of various sizes.
[0336] [0336] For 2518 staple cartridges over 60 mm, the pattern continues, but the last 10 to 15 mm continue at a specified control speed from the indicated previous zone pending further interventions for the end of travel, between others. At the end of each zone, the actual time tn that the I-2514 shaped rod takes to traverse the zone is compared to the values in other tables (for example, Tables 2 to 5 below) to determine how to adjust the command speed for the next zone. The command speed is updated to the next zone and the process continues. Whenever the command speed is updated, the next zone will not be evaluated.
[0337] [0337] In one aspect, Tables 1 to 5 can be stored in the memory of the surgical instrument. Tables 1 to 5 can be stored in memory in the form of a query table (LUT), so that the control circuit 2510 can retrieve the values and control the control speed of the rod with I 2514 profile in each zone based on the values stored in the LUT.
[0338] [0338] Figure 39 is a graphical representation 10100 that compares to the rotation range δn of the stroke of the rod with I-shaped profile 2514 as a function of time 10102 (upper graph) and the expected firing force of the rod with profiled in I 2514 as a function of time 10104 (bottom graph) according to one aspect of the present description. In relation to the upper graph 10102, the horizontal geometric axis 10106 represents the time (t) in seconds (s) from 0 to 1.00X, where X is a scale factor. For example, in one aspect, X = 6 and the horizontal geometric axis 10106 represent time from 0 to 6 s. The vertical geometric axis 10108 represents the displacement (δ) of the I-shaped rod 2514 in millimeters (mm). The rotation range δ1 represents the stroke 10114 of the I-shaped profile 2615 or the displacement at the top of the ramp 10006 (Figures 36A, 36B) for fine and medium thickness fabrics. The time for the I-profile rod 2514 to reach the top of the 10114 ramp course for thin fabric is t1 and the time for the I-profile rod 2514 to reach the top of the 10114 ramp course for thick fabric. average is t2. As shown, t1 <t2, so that the I-shaped rod 2514 takes less time to reach the top of the ramp 10114 for thin fabric than for thick or medium fabric. In one example, the top of the rotation range δ1 of the 10114 ramp stroke is about 4.1 mm (01.60 inches) and the time t1 is less than 0.9 s (t1 <0.9 s) and time t2 is greater than 0.9 s, but less than 1.8 s (0.9 <t2 <1.8 s). Consequently, in relation to Table 5, the speed to reach the top of the 10114 ramp course is fast for thin and medium fabric for medium thickness fabric.
[0339] [0339] [0001] In relation to the lower graph 10104, the horizontal geometric axis 10110 represents time (t) in seconds (s) and has the same scale as the horizontal geometric axis 10106 of the upper graph
[0340] [0340] Figure 40 is a graphical representation 10200 that compares to the thickness of the tissue as a function of the adjusted rotation range of the stem stroke with I-shaped profile 10202 (upper graph), the triggering force as a function of the 10204 I-shaped stem stroke rotation rate (second graph from above), dynamic time checks as a function of the 10206 I-shaped stem stroke rotation interval (third graph from above) and the adjusted speed of the I-shaped rod as a function of the adjusted rotation range of the I-shaped rod 10208 (bottom graph) according to one aspect of this description. The horizontal geometry axis 10210 for each of the graphs 10202, 10204, 10206, 10208 represents the set rotation range of the motor drive shaft 2504 for a 60 mm clamp cartridge, for example. The speed of the 2504 motor drive shaft corresponds to a displacement of the displacement member, such as the rod with I 2514 profile, for example. In one example, a 60 mm 2518 cartridge can travel the I-shaped rod 2514 at about 142 revolutions of the 2504 motor drive shaft with a 60-threaded screw driver per inch. In relation to Table 1, the horizontal geometric axis 10210 was marked to identify the defined zones Z1 to Z6 for a 60 mm staple cartridge. As shown in Table 1, the defined zones can be marked for staple cartridges of various sizes. The 10210 horizontal geometry axis is marked from 0 to 142 revolutions for a 60 mm staple cartridge and a lead screw driver with 60 threads per inch. In relation to Figure 14, according to the present description, the control circuit 2510 samples or measures the elapsed time of the timer / counter circuit 2531 for various rotation intervals of the drive shaft.
[0341] [0341] The tissue thickness chart 10202 shows a tissue thickness profile 10220 along the staple cartridge 2518 and an indicated thickness 10221, as shown by the horizontal dashed line. The firing force graph 10204 shows the firing force profile 10228 along the staple cartridge 2518. The firing force 10230 remains relatively constant as long as the fabric thickness 10222 remains below the indicated thickness 10221 as the I-shaped profile 2514 crosses zones Z1 and Z2. As the I-2514 shaped rod enters zone Z3, the thickness of the fabric 10224 increases and the firing force also increases, while the I-shaped profile 2514 traverses the thicker tissue in zones Z3, Z4 and Z5. As the I-shaped profile 2514 leaves zone Z5 and enters zone Z6, the thickness of the
[0342] [0342] In relation to Figures 14, 36A to 40 and Tables 2 and 3, the speed Φ1 in zone Z1 is adjusted to the control speed Φo in revolutions per second determined by the control circuit 2510 in zone Zo, which is based on time that the rod with I 2514 profile takes to travel to the top of the 10006 ramp in the Zo zone, as discussed in relation to Figures 36A, 36B and 38. In relation to the graphics 10206, 10208 in Figure 39, the speed initial adjusted Φo has been adjusted as mean and, therefore, the adjusted speed Φ1 in zone Z1 is adjusted as mean, so that Φ1 = Φo.
[0343] [0343] In the set rotation position δ1 (for example, 12 revolutions [5.04 mm] for a 60 mm staple cartridge and a lead screw of 60 threads per inch), as the rod with I-profile 2514 leaves zone Z1 and enters zone Z2, control circuit 2510 measures the real time t1 that the rod with I-profile 2514 takes to travel an adjusted distance during the set rotation interval Θ1 (12 rotations, 5.04 mm) and determines the real speed of the rod with I 2514 profile. In relation to graphs 10206 and 10208 in Figure 39, in the set rotation position δ1, the real time t1 that the rod with I 2514 profile it takes to travel an adjusted distance during the set rotation interval Θ1 is t1 = 0.55 s. According to Table 3, an actual travel time t1 = 0.55 s in zone Z1 requires that the control or adjusted speed Φ2 in zone Z2 be adjusted as an average. Consequently, the 2510 control circuit does not reset the command speed for zone Z2 and maintains it as an average.
[0344] [0344] In the set rotation position δ2 (for example, 35 revolutions [14.7 mm] for a 60 mm staple cartridge and a lead screw of 60 threads per inch), as the rod with I 2514 profile leaves zone Z2 and enters zone Z3, the control circuit
[0345] [0345] In the set rotation position δ3 (for example, 59 revolutions [24.78 mm] for a 60 mm staple cartridge and a lead screw of 60 threads per inch), as the rod with I-profile 2514 leaves zone Z3 and enters zone Z4, control circuit 2510 measures the real time t3 that the rod with I-profile 2514 takes to travel an adjusted distance during the set rotation interval Θ3 (23 rotations, 9.66 mm) and determines the real speed of the rod with I 2514 profile. In relation to graphs 10606 and 10608 in Figure 39, in the set rotation position δ1, the real time t1 that the rod with I 2514 profile it takes to travel an adjusted distance during the set rotation interval Θ1 is t1 = 1.30 s. According to Table 3, an actual travel time t1 = 1.30 s in zone Z1 requires that the control speed or adjusted Φ4 in zone Z4 be set to slow. This is due to the fact that the actual travel time of 1.3 s is greater than 1.10 s and is outside the previous range. Consequently, control circuit 2510 determines that the actual speed of the I-profile rod 2514 in zone Z3 was slower than expected due to external influences, such as thicker than expected tissue, as shown in tissue region 10224 in graphic 10202. Consequently, control circuit 2510 resets the control speed Φ4 in zone Z4 from medium to slow.
[0346] [0346] In one aspect, the 2510 control circuit can be configured to disable the reset speed in a zone after a zone in which the speed has been reset. In other words, whenever the speed is updated in a current zone, the subsequent zone will not be evaluated. When the speed is updated in zone Z4, the time that the rod with I-profile 2514 takes to traverse zone Z4 will not be measured at the end of zone Z4 at the set rotation distance δ4 (for example, 82 revolutions [ 34.44 mm] for a 60 mm staple cartridge). Consequently, the speed in zone Z5 will remain the same as the speed in zone Z4, and dynamic time measurements resume at the set rotation position δ5 (for example, 106 revolutions [44.52 mm] for a 60 mm staple cartridge. and a lead screw of 60 threads per inch).
[0347] [0347] [0002] In the set rotation position δ5 (for example, 106 revolutions [44.52 mm] for a 60 mm staple cartridge and a lead screw of 60 threads per inch), as the rod with I profile 2514 leaves zone Z5 and enters zone Z6, control circuit 2510 measures the real time t5 that the rod with profile I 2514 takes to travel a set distance during the set rotation interval Θ5 (23 revolutions , 9.75 mm) and determines the real speed of the I 2514 shaped rod. In relation to the graphs 10606 and 10608 in Figure 39, in the set rotation position δ5, the real time t5 that the rod with I 2514 profile takes to travel a set distance during the set rotation interval Θ5 is t5 = 0.95 s. According to Table 3, an actual travel time t5 = 0.95 s in zone Z5 requires that the control speed or adjusted Φ6 in zone Z6 be set to high. This is due to the fact that the travel time
[0348] [0348] Figure 41 is a 10300 graphical representation of the firing force as a function of time that compares the slow, medium and fast travel speeds of the I-profile rod 2514 according to one aspect of the present description. The horizontal geometry axis 10302 represents the time t (s) that an I-shaped rod takes to pass through a staple cartridge. The vertical geometric axis 10304 represents the firing force F (N). The graphical representation shows three separate force curves for firing as a function of time. A first force curve for firing 10312 represents a rod with an I-profile 2514 (Figure 14) that passes through a thin fabric 10306 at a fast speed and reaches a maximum firing force F1 at the top of the 10006 ramp (Figure 36B) in t1. In one example, a fast traverse speed for the 2514 I-shaped rod is ~ 30 mm / s (~ 71 revolutions / s). A second firing force curve 10314 represents a rod with an I-profile 2514 that traverses a medium tissue 10308 at medium speed and achieves a maximum firing force F2 at the top of the 10006 ramp at t2, which is greater than t1. In one example, an average traverse speed for the I-shaped profile 2514 is ~ 12 mm / s (~ 29 revolutions / s). A third force curve for firing 10316 represents a rod with an I-profile 2514 that passes through thick tissue 10310 at a slow speed and reaches a maximum firing force F3 at the top of the 9006 ramp at t3 that is greater than t2 . In one example, a speed
[0349] [0349] Figure 42 is a logical flow chart of a 10400 process that represents a control program or a logical configuration for controlling the command speed in an initial trigger stage according to an aspect of the present description. In relation to Figures 14 and 36A to 40, the control circuit 2510 determines 10402 the reference position of the displacement member, such as the I-profile rod 2514, based on the number of revolutions of the motor drive shaft 2504 and the number of threads per mm or inch of the lead screw. As previously discussed, a lead screw having 60 threads per inch advances the displacement member by 0.42 mm per rotation of the drive shaft. The position information based on the rotation information of the drive shaft is provided by the position sensor 2534. In the example of rod with I-shaped profile 2514, the reference position is the proximal or stationary position 10002 at the bottom of the closing ramp. 10006, as shown in Figure 36B. When the reference position is determined 10402, the control circuit 2510 and the motor control 2508 adjust the control speed of the motor 2504 to a predetermined control speed iamo and start the 10404 trip of the displacement member (for example, the rod with I 2514 profile) at the predetermined control speed Vo for the initial zone or base zone Zo. In one example, the initial predetermined command speed Φo is ~ 12 mm / s (29 revolutions / s), however, another initial predetermined command speed Φo can be employed. The 2510 control circuit monitors 10406 the drive shaft rotation information received from the 2534 position sensor until the I-profile rod 2514 reaches a target position at the top of the 10006 ramp, as shown in Figure 36B .
[0350] [0350] With the timing information received from the timer / counter circuit 2531 and the drive axis rotation information received from the position sensor 2534, the control circuit 2510 measures 10408 the time it takes for the displacement member to move from reference position 10002 to target position 10004 after a specific number of driveshaft revolutions (for example, 12 or 24 revolutions). Control circuit 210 sets 10410 the control speed Φ1 for the first zone Z1 based on the measured time to. As shown in Table 1, the various defined zones can be defined for staple cartridges of various sizes. Other zones, however, can be defined. Control circuit 2510 sets 10410 the control speed Φ1 for the first zone Z1 by comparing 9412 the time measured to values stored in memory, such as, for example, stored in a query table (LUT). In an example, as indicated generically in Table 4 and as a specific example in Table 5, if the time with the I-profile rod 2514 takes time to climb the ramp 10006 from the reference position 10002 to the target position 10004 to 5 revolutions / s is less than 0.9 s (to <0.9 s), then the command speed for the first zone Z1 is set to 10414 as FAST (eg 30 mm / s, 71 revolutions / s ). Otherwise, if the time to (s) for the I-shaped rod 2514 raises the ramp 10006 from the reference position 10002 to the target position 10004 at 5 revolutions / s is greater than or equal to 0.9 s (to ≥ at 0.9 s), then the control speed for the first zone Z1 is set to 10416 as AVERAGE (eg 12 mm / s, 29 revolutions / s). Subsequently, the control circuit 2510 checks 10418 for locking and for 10420 the motor 2504, if there is a blocking condition. Otherwise, the control circuit enters 10422 in the dynamic trip phase, as described below in relation to process 10450 in Figure 42.
[0351] [0351] Figure 43 is a logical flow chart of a 10450 process that represents a control program or a logical configuration for controlling the command speed in a dynamic trigger stage according to an aspect of the present description. In relation to Figures 14 and 36A to 40, control circuit 2510 sets 10452 to the initial command speed of the motor 2504 in revolutions per second for the first zone Z1 based on the initial time, as described in relation to process 10400 in Figure 41. As the travel member passes through the staple cartridge 2518, the control circuit 2510 receives the drive axis rotation information from the position sensor 2534 and the timing information from the timer / counter circuit 2531 and monitors 10454 the number of driveshaft rotations that represent the position of the displacement member along the predefined zone Zn. At the end of the Zn zone, the control circuit 2510 measures 10456 the real time tn that the displacement member took to travel from the beginning of the Zn zone to the end of the Zn zone based on a predetermined number of driveshaft rotations and compares 10458 real time tn to a predetermined time for a specific zone, as shown in a generic way in Table 2 and as a specific example in Table 3. The predetermined rotation period Tn is the expected rotation period of the limb of displacement that moves at speed
[0352] [0352] For example, in relation to Table 3, the time to travel through a zone at a specific command speed is provided for several dynamic firing zones. For example, if the dynamic firing zone is zone Z1 (12 revolutions) and tn <0.5 s, the control speed for the next zone Z2 is set to FAST; if 0.5 <tn <0.6 s, the control speed for the next zone Z2 is set to AVERAGE; and if tn> 0.6 s, the command speed for the next zone Z2 is set to SLOW.
[0353] [0353] If, however, the dynamic firing zone is an intermediate zone Z2 to Z5 (24 revolutions), for example, located between the first zone Z1 and the last zone Z6, and if tn <0.9 s , the command speed for the next zone Z2 is set to FAST; if 0.9 <tn <1.1 s, the control speed for the next zone Z Z3 to Z5 is set to AVERAGE; and if tn> 1.1 s, the control speed for the next zone Z Z3 to Z5 is set to SLOW.
[0354] [0354] Finally, if the dynamic firing zone is the last zone measured Z5 (24 revolutions) and tn <1.0 s, the control speed for the last zone Z6 is set to FAST; if 1.0 <tn <1.3 s, the control speed for the last zone Z6 is set to AVERAGE; and if tn> 1.3 s, the control speed for the last zone Z6 is set to SLOW. Other parameters can be used not only to define the dynamic firing zones, but also to define the travel time through a zone at a specific command speed for several dynamic firing zones.
[0355] [0355] Based on the results of the comparison algorithm 10458, the control circuit 2510 will continue the process 10450. For example, if the results of the comparison 10458 indicate that the actual speed (FAST, AVERAGE, SLOW) in the previous zone Zn is equal to the previous command speed V1 (FAST, MEDIUM, SLOW), control circuit 2510 maintains 10460 the command speed for the next zone Zn + 1 equal to the previous command speed. Process 10450 continues to monitor 10454 the number of rotations of the drive shaft along the next predefined zone Z n + 1. At the end of the Zn + 1 zone, the control circuit 2510 measures 10456 the time tn + 1 that the displacement member took to travel from the beginning of the Zn + 1 zone to the end of the Zn + 1 zone during the predetermined route number. - drive shaft sections and compare 10458 real time tn + 1 to a predetermined time for a specific zone, as shown in a generic way in Table 2 and as a specific example in Table
[0356] [0356] If the results of comparison 10458 indicate that the actual speed (FAST, AVERAGE, SLOW) in the front zone Zn is different from the previous command speed Φ1 (FAST, AVERAGE, LIGHT), the control circuit 2510 readjust 10462 or update the command speed for the next Zn + 1 zone according to the algorithm summarized in Tables 2 and 3. If the command speed is readjusted 10462 or updated to Φnova, the control circuit 2510 man - has 10464 control speed Φnova for an additional zone Zn + 2. In other words, at the end of the next Zn + 1 zone, the 2510 control circuit does not evaluate or measure time. Process 10450 con-
[0357] [0357] Various aspects of the subject described in this document are defined in the following numbered examples:
[0358] [0358] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor comprising a drive shaft, the motor being 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, in which the position sensor is configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure the elapsed time; where the control circuit is configured to: receive, from the position sensor, rotations of the drive shaft in a current zone defined by an adjusted rotation interval; measure time at a set position of the rotation range, where the measured time is defined as the time the displacement member takes to travel the rotation range at a predetermined number of revolutions of the drive shaft ; and adjusting a driving speed of the travel member for a subsequent zone based on the time measured in the current preset zone.
[0359] [0359] Example 2. Surgical instrument of Example 1, in which the control circuit is configured to: determine the adjusted rotation interval in which the displacement member is located, in which the adjusted rotation interval is defined by a number of rotations of the drive shaft that result in a linear translation of the displacement member from an initial position to an end position; and measuring the time the displacement member reaches the end position of the rotation range.
[0360] [0360] Example 3. Surgical instrument of Example 1, in which the control circuit is configured to: compare the measured time to a predetermined time stored in a memory coupled to the control circuit. and determine whether to adjust or maintain the command speed based on the comparison.
[0361] [0361] Example 4. Surgical instrument of Example 3, in which the control circuit is configured to maintain the command speed for the subsequent zone equal to the command speed of the current zone, when the measured time is within a range of predetermined times.
[0362] [0362] Example 5. Surgical instrument of Example 3, in which the control circuit is configured to adjust the command speed for the subsequent zone other than the command speed of the current zone, when the measured time is out of range predetermined times.
[0363] [0363] Example 6. Surgical instrument of Example 5, in which the control circuit is configured to ignore a time measurement for a subsequent zone, when the control speed is adjusted.
[0364] [0364] Example 7. Surgical instrument of Example 1, in which multiple zones are defined by a staple cartridge configured to operate with the surgical instrument.
[0365] [0365] Example 8. Surgical instrument of Example 7, in which at least two zones have a different length.
[0366] [0366] Example 9. Surgical instrument of Example 1 that compares
[0367] [0367] Example 10. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor comprising a drive shaft, the motor being 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, in which the position sensor is configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, where the timer / counter circuit is configured to measure the elapsed time; where the control circuit is configured to: receive, from the position sensor, rotations of the drive shaft in a current zone defined by an adjusted rotation interval; measure time as the displacement member moves from a stationary position to a target position based on a predetermined number of rotations of the drive shaft; and adjust a displacement limb command speed for a first dynamic zone based on the measured time.
[0368] [0368] Example 11. Surgical instrument of Example 10, in which the control circuit is configured to compare the measured time to a predetermined time stored in a memory coupled to the control circuit.
[0369] [0369] Example 12. Surgical instrument of Example 11, in which the control circuit is configured to adjust the command speed for the initial zone to a first speed when the measured time is within a first time range and adjust bird-
[0370] [0370] Example 13. Surgical instrument of Example 10, in which the control circuit is configured to determine a blocking condition and stop the engine.
[0371] [0371] Example 14. Surgical instrument of Example 10 which additionally comprises a screw drive system coupled to the motor drive shaft, in which the screw drive system comprises a lead screw coupled to a nut, where the nut is coupled to the displacement member.
[0372] [0372] Example 15. Method for controlling the speed of the motor in a surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, an engine which comprises a drive shaft, in which the motor is coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, in which the position sensor it is configured to monitor the rotation of the drive shaft, a timer circuit coupled to the control circuit, in which the timer / counter circuit is configured to measure the elapsed time, in which the method comprises: receiving, from a sensor of position, the rotations of the drive shaft in a current zone defined by an adjusted rotation interval; Measure, by means of a timer circuit, the time at an adjusted position of the rotation interval, where the measured time is defined as the time that the displacement member took to traverse the rotation interval based on a predetermined number of revolutions the drive shaft; and adjusting, by means of the control circuit, a command speed of the displacement member for a subsequent zone based on the time measured in the current zone.
[0373] [0373] Example 16. Method of Example 15 which further comprises: determining, by means of the control circuit and the timing circuit, the adjusted rotation interval in which the displacement member is located, in which the rotation interval set is defined by a number of rotations of the drive shaft that result in a linear translation of the displacement member from an initial position to an end position; and measure, by means of the control circuit, the time in which the displacement member reaches the final position of the rotation interval.
[0374] [0374] Example 17. Method of Example 15 which additionally comprises: comparing, through the control circuit, the time measured to a predetermined time stored in a memory coupled to the control circuit; and determine, through the control circuit, the possibility to adjust or maintain the control speed based on the comparison.
[0375] [0375] Example 18. Method of Example 17, which further comprises maintaining, by means of the control circuit, the command speed for the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined time range.
[0376] [0376] Example 19. Method of Example 17 which further comprises adjusting the control speed for the subsequent zone by means of the control circuit other than the command speed of the current zone, when the measured time is outside a predetermined time range.
[0377] [0377] Example 20. Method of Example 19, which further comprises ignoring, by means of the control circuit, a time measurement for a subsequent zone, when the command speed is adjusted.
[0378] [0378] Example 21. Method of Example 15 which further comprises defining, through the control circuit, multiple zones that are defined for a staple cartridge configured to operate with the surgical instrument.
[0379] [0379] Example 22. Method of Example 21 which further comprises defining, by means of the control circuit, at least two zones having a different length. Systems and methods for controlling the motor speed display for a surgical instrument
[0380] [0380] When using a motorized surgical cutting and stapling instrument, it is possible that the user may not know the control speed or the actual speed of the cutting or firing member. Therefore, it may be desirable to communicate information to the user through a display screen that provides information on the firing speed of the cutting member or firing member, where the speed is related to the size of the zone that is indicated on the display screen. It may be desirable to communicate the speed control to show the command speed, as well as the triggering mode in an automatic closed loop feedback mode or manually selected mode.
[0381] [0381] The description now turns to a closed loop feedback system to control the motor speed based on a variety of conditions. The closed loop feedback system, as executed by the 2510 control circuit, can be configured to implement both a standard triggering condition, for example, preprogrammed, and a triggering condition selected by the user. The trigger condition selected by the user can be selected during the open circuit portion or,
[0382] [0382] With reference to Figure 44 in perspective view of a 10500 surgical instrument according to an aspect of this description is shown. In one aspect, a 10500 surgical instrument comprising a 10504 end actuator connected by means of a 10503 drive shaft to a 10502 cable assembly additionally comprises a 10506 monitor. The 10500 surgical instrument comprises a start button 10508, a hinge lever 10510, a trigger trigger and a safety release 10512, and a lock trigger 10514.
[0383] [0383] In the discussion presented below, reference is also made to Figure 14. The 10506 monitor is operationally coupled to the 2510 control circuit, so that the 2510 control circuit can make the 10506 monitor show various information associated with the operation of the 10500 instrument, such as information determined by or from position sensor 2534, current sensor 2536 and / or other sensors 2538. In one aspect, monitor 10506 can be configured to display the speed at which the I-shaped rod 2514 is set to be translated by motor 2504, that is, a control speed, and / or the actual speed at which the I-shaped rod 2514 is being translated. The set speed is the set speed, the target speed or the desired speed. The control speed at which the rod with I-2514 profile must be translated must be determined both by receiving the engine setpoint, which dictates the speed at which engine 2504 drives the rod with I-2514 profile, dictated by the signal motor drive 2524 from motor control 2508 or which stores motor drive signal 2524 that is provided to motor control 2508 in a memory for subsequent retrieval. The actual speed at which the rod with I 2514 profile, or another component of the trigger drive system, is being translated can be determined by monitoring the position of the rod with I 2514 profile over a period of time, which can be tracked by the 2510 control circuit via the 2531 timer / counter input.
[0384] [0384] In several respects, the 10506 monitor of the surgical instrument 10500 can be positioned directly on the external compartment or the casing of the cable assembly 10502 or, if not, integrally associated with the surgical instrument 10500. In others The 10506 monitor can be removably or securely connectable to the 10500 surgical instrument. In still other aspects, the 10506 monitor can be separated or otherwise distinct from the 10500 surgical instrument. The 10506 monitor can be attached communicable to the 2510 control circuit via a wired connection or a wireless connection.
[0385] [0385] Figure 45 is a detailed view of a monitor portion 10506 of surgical instrument 10500 shown in Figure 44 according to an aspect of this description. The 10506 monitor includes a 10516 LCD monitor for communicating speed control, including showing the command speed, as well as whether the trigger mode is in a closed-loop (automatic) feedback mode or manually selected mode. Monitor 10506 provides transection enhancement by displaying a graphic image of an end actuator clamp cartridge 10518 with a knife 10520 and rows of clamps 10522. A left graphic marker 10524 indicates the distance 10528 that the knife 10520 has traveled (for example, 10 mm) distally and a right graphic marker 10526 indicates the speed of knife 10520 as it moves distally when the current speed is circular (for example, 3), when 1 is the speed fast, 2 is medium speed and 3 is slow speed. The speed can be selected manually or automatically based on the condition of the fabric.
[0386] [0386] Figure 46 is a logical flow chart of a 10550 process that represents a control program or a logical configuration for controlling a monitor according to an aspect of the present description. Reference is also made to Figures 14 and 44. Consequently, control circuit 2510 first receives 10552 the control speed from the instrument input and 10554 adjusts engine speed 2504 to the control speed. The control circuit 2510 receives 10556 position information from the displacement member (for example, I-profile rod 2514) from the position sensor 2534 and receives 10558 timing information from the timer / counter 2531 and determines 10560 the speed of the member displacement. The speed of the I-profile rod 2514 may include the actual speed at which the I-profile rod 2514 is translated or the control speed at which the I-profile rod 2514 has been set to be translated. The 2510 control circuit causes the 10506 monitor to display 10562 symbols indicating the actual speed of the displacement member and / or the control speed, depending on the configuration of the 10500 instrument. In one aspect, the 2510 control circuit it determines 10560 both the actual speed and the control speed of the rod with I 2514 profile and causes the 10506 monitor to display 10562 symbols for each of the control speed and the control speed. The control circuit 2510 then compares 10564 the speed of the displacement member to the command speed and causes the monitor 10506 to display 10566 symbols related to the comparison. For example, control circuit 2510 may cause monitor 10506 to display symbols that show whether the actual speed of the travel member is equal to, greater than, or less than, the command speed. In some respects, the 2510 control circuit causes the 10506 monitor to display the actual speed of the travel member in relation to a range of command speeds, for example, low or slow (for example, 0 to 7 mm / s), medium (for example, 7 to 12 mm / s) or high or fast (for example, 12 to 30 mm / s). In addition, the 2510 control circuit receives 10568 battery operating status from power source 2512, such as voltage, current, impedance, capacity, temperature, and the like, and causes the 10506 monitor to display the status of the 10570 battery.
[0387] [0387] The symbols for speed or speeds may include a numeral indicating a displayed speed, for example, in mm / s, a numeral indicating a speed value relative to a maximum or minimum value, a format that is changed from according to the speed, a format that is filled or shaded with a color according to the speed, a format or alphanumeric character that flashes according to the speed, a format or alpha-numeric character that changes color according to the speed , a disc indicating absolute or relative speed, a format or alphanumeric character indicating a zone in which the speed falls, an icon or a series of icons representing an animal indicating a speed, several other symbols configured for represent a speed, and combinations of them. These symbols are illustrated and described below in the form of representations of feedback display screens in relation to Figures 47 to 81, for example.
[0388] [0388] Figures 47 to 49 illustrate several monitors 10600 representing a speed feedback screen in accordance with an aspect of the present description. The 10600 monitor represents an image
[0389] [0389] In some respects, the 10600 monitor additionally comprises mode symbols indicative of the way in which the 10500 surgical instrument is adjusted. These modes may include, for example, an automatic mode 10616 or a manual mode 10622. These modes and processes for the 2510 control circuit control the speed at which the I-profile rod 2514 is triggered and do, correspondingly , with the monitor 10600 indicating the mode of the surgical instrument 10500 are described in the patent application US Proxy Document No. END8270USNP / 170191, which is incorporated herein by reference in its entirety. In some respects, automatic mode 10616 or manual mode 10622 may be a flash 10624.
[0390] [0390] Speed symbols 10602 may additionally comprise several alphanumeric characters configured to indicate speed. Alphanumeric characters can be displayed alone or in combination with other symbols, such as zones.
[0391] [0391] In one aspect, the size or relative portion of monitor 10600 occupied by speed symbols 10602 corresponds to speed. For example, 10602 speed symbols can be filled in or shaded according to the speed relative to a maximum speed, as shown in Figures 47 to 55. In another aspect where 10602 speed symbols comprise alphanumeric characters, the size of the alphanumeric character can increase according to the speed determined by the control circuit 2510.
[0392] [0392] Figures 50 to 52 illustrate several 10630 monitors representing a speed feedback screen in accordance with an aspect of the present description. Monitor 10630 represents a graphic image of an end actuator clamp cartridge
[0393] [0393] As shown in Figure 50, the control speed is adjusted as average by the first and second filled or shaded zones 10634, 10636 and by the third unfilled and unshaded zone 16038. As shown in Figure 51, the speed - control range is set as low as indicated by a first filled or shaded zone 10634 and the second and third unfilled or shaded zones 10636, 16038 are unfilled and not shaded. As shown in Figure 52, the control speed is set to high, as indicated by the three zones 10634, 10636, 10638 filled or shaded.
[0394] [0394] Figures 53 to 55 illustrate several 10650 monitors representing a speed feedback screen in accordance with an aspect of the present description. Monitor 10650 represents a graphic image of an end actuator clamp cartridge
[0395] [0395] As shown in Figure 53, the actual speed is set as average, as indicated by the first and second filled or shaded zones 10654, 1066 and a third unfilled or unshaded zone 16058 and the control speed is set as average, as indicated by the filled or shaded "M" icon 10655 (and by the unfilled and un-shaded "H" and "L" icons 10653, 10657). As shown in Figure 54, the actual speed is slow, as indicated by the first filled or shaded zone 10654 (and a second and third unfilled or unshaded zones 10656, 16058) and the control speed is set as low, as indicated by the filled-in "L" icon 10657 (and by the unfilled and unshaded "H" and "M" icons 10653, 10655). As shown in Figure 55, the actual speed is fast as indicated by the three zones 10654, 10656, 10658 completely filled or shaded and as the control speed is set to high, as additionally indicated by the "H" icon filled or shaded 10653 (and by the circled icons "M" and "L" unfilled and unshaded 10655, 10657).
[0396] [0396] Figures 56 to 58 illustrate several monitors 10670, 10670 'representing various speed feedback screens in accordance with an aspect of the present description. Monitor 10670, 10670 'depicts a graphic image of a 10682 end actuator clamp cartridge. Monitor 10670, 10670' comprises speed symbols 10672, 10672 'to indicate the control speed as well as the actual speed of the displacement member (for example, I 2514 shaped rod) during the firing cycle. In one aspect, the speed symbols 10672, 10672 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in the Figures
[0397] [0397] In addition, the speed symbols 10672, 10672 'additionally comprise a circled icon filled or shaded 10676 with one or more white arrows to indicate the control speed, so that, for example, an arrow refer to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. An additional alphanumeric character 10674 indicates the speed units, for example, mm / s. As the speed increases or decreases, the shaded region 10686 increases and decreases accordingly. The status bar 10688 at the bottom of monitor 10670 indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 56 to 58, the status bar 10688 indicates normal operation. In one aspect, the filled or shaded color of the 10686 speed region can be the same as the filled or shaded color of the 10688 status bar to indicate normal and attention modes of operation.
[0398] [0398] As shown in Figure 56, the actual speed is fast (12 mm / s ~) as indicated by the shaded region 10686 and the control speed is set to high as indicated by the three arrows in the circled icon 10676. As noted previously, the alphanumeric characters 10684 "7" and "12" include a clipping. As shown in Figure 57, the actual speed is fast (30 mm / s ~) as indicated by the shaded region 10686 and the drive speed is set to high as indicated by the three arrows in the circled icon 10676. As shown in Figure 58 , the control speed is average (10 mm / s ~) as indicated by the shaded region 10686 and the control speed is set to average as indicated by the two arrows in the circled icon 10676.
[0399] [0399] Figures 59 to 61 illustrate several monitors 10690, 10690 ’, 10690’ ’representing various speed feedback screens in accordance with an aspect of the present description. Monitor 10690, 10690 ’, 10690’ ’represents a graphic image of a 10702, 10702’, 10702 ’’ end actuator clamp cartridge. The monitor 10690, 10690 ', 10690' 'comprises speed symbols 10692, 10692', 10692 '' to indicate the control speed, as well as the actual speed of the displacement member (for example, the I-profile rod 2514) during the firing cycle. In one aspect, the speed symbols 10692, 10692 ', 10692' 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 59 to 61. The shape or shapes of the speed symbols 10692, 10692 ', 10692' 'may include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10692, 10692 ', 10692 "can comprise an arcuate graphic 10698, 10698', 10698" comprising multiple graduations 10700, 10700 ', 10700 "to indicate the actual speed from 0 to 30 mm / s , for example: The alphanumeric characters 10704, 10704 ', 10704' '(0, 7, 12 and 30) are arranged around the perimeter of the arched graph 10698, 10698', 10698 '' to indicate the actual speed for a filled region or shaded 10706, 10706 ', 10706' '. Monitors 10690, 10690', 10690 "are substantially similar, but include some minor variations. For example, the 10678 arched graphic of monitor 10690 depicted in Figure 59 includes cutouts around the 10704 alphanumeric characters (7 and 12), for example, but not the 10678 ', 10678 "arched graphic of 10690', 10690" monitors shown in Figures 60 and 61. In addition, the speed symbols 10692, 10692 '' from monitors 10690, 10690 '' illustrated in Figures 59 and 61 include an alphanumeric character 10694, 10694 '' to indicate the units of speed, for example, mm / s, on a bottom portion of monitor 10690, 10690 '', while monitor 10690 'shown in Figure 60 includes an alphanumeric character 10694' to indicate speed units, for example, mm / s , on the top portion of monitor 10690 '.
[0400] [0400] In addition, the speed symbols 10692, 10692 ', 10692' additionally comprise a circled icon filled or shaded 10696, 10696 ', 10696' 'with one or more white arrows to indicate the control speed, so that, for example, one arrow refers to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. As the speed increases or decreases, the shaded region 10706, 10706 ’, 10706’ ’increases and decreases accordingly. The status bar 10708, 10708 ’, 10708’ ’on the bottom of the monitor 10690, 10690’, 10690 ’’ indicates the operating status as normal (for example, green) or attention (for example, yellow). In the example shown in Figure 59, the status bar 10708 indicates service operation. In the examples shown in Figures 60 to 61, bars 10708 ’,
[0401] [0401] As shown in Figure 59, the actual speed is average (12 mm / s ~) as indicated by the shaded region 10706, but the control speed is set to fast as indicated by the three arrows in the circled icon 10696. As seen previously, the alphanumeric characters 10704 "7" and "12" include a cut. As shown in Figure 60, the actual speed is slow (7 mm / s ~) as indicated by the shaded region 10706 ’and the control speed is set to low as indicated by the single arrow on the circled icon 10696’. As shown in Figure 61, the actual speed is slow (2 mm / s ~) as indicated by the shaded region 10706 '' and the control speed is set to low as indicated by the single arrow in the circled icon 10696 ''
[0402] [0402] Figures 62 to 64 illustrate several monitors 10720, 10720 'representing various speed feedback screens in accordance with an aspect of the present description. Monitor 10720, 10720 'represents a graphic image of a 10732 end actuator clamp cartridge. Monitor 10720, 10720' comprises speed symbols 10722, 10722 'to indicate the control speed as well as the actual speed of the displacement member (for example, I 2514 shaped rod) during the cycle and firing. In one aspect, the speed symbols 10722, 10722 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 62 to 64. The shape or shapes of the speed symbols 10722 , 10722 'can include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10722, 10722 'may comprise an arcuate graphic 10728, 10728' comprising multiple graduations 10736 to indicate the actual speed from 0 to 30 mm / s, for example. The alphanumeric characters 10734 (0, 7, 12 and 30) are arranged around the perimeter of the arched graph 10728, 10728 'to indicate the actual speed for a filled or shaded region 10736. Monitor 10720 shown in Figure 62 it is a slightly modified version of monitor 10720 'shown in Figures 63 and 64. For example, arcuate graphic 10728 of monitor 10720 shown in Figure 62 includes cutouts around alphanumeric characters 10734 (7 and 12), for example.
[0403] [0403] In addition, the speed symbols 10722, 10722 'additionally comprise a transparent or white circled icon 10726 with one or more black or shaded arrows to indicate the control speed, so that, for example, an arrow refer to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. An additional alphanumeric character 10724 indicates the speed units, for example, mm / s. As the speed increases or decreases, the shaded region 10736 increases and decreases accordingly. The status bar 10738 at the bottom of the monitor 10720, 1072 'indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 62 to 64, the status bar 10738 indicates normal operation. In one aspect, the filled or shaded color of the 10736 speed region can be the same as the filled or shaded color of the 10738 status bar to indicate normal and attention modes of operation.
[0404] [0404] As shown in Figure 62, the actual speed is medium to fast (~ 12 mm / s) as indicated by the shaded region 10736 and the drive speed is set to high as indicated.
[0405] [0405] Figures 65 to 67 illustrate several monitors 10740, 10740 ’, 10740’ ’representing various speed feedback screens in accordance with an aspect of the present description. Monitor 10740, 10740 ’, 10740’ ’represents a graphic image of an end actuator clamp cartridge 10752, 10752’, 10752 ’’. The monitor 10740, 10740 ', 10740' 'comprises speed symbols 10742, 10742', 10742 '' to indicate the control speed, as well as the actual speed of the displacement member (for example, the I-profile rod 2514) during the firing cycle. In one aspect, the speed symbols 10742, 10742 ', 10742' 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 65 to 67. The shape or shapes of the speed symbols 10742, 10742 ', 10742' 'can include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10742, 10742 ', 10742 "can comprise an arcuate graphic 10748, 10748', 10748" comprising multiple graduations 10750, 10750 ', 10750 "to indicate the actual speed from 0 to 30 mm / s , for example: The alphanumeric characters 10704, 10704 ', 10704' '(0, 7, 12 and 30) are arranged around the perimeter of the arched graph 10748, 10748', 10748 '' to indicate the actual speed for a filled region or shaded 10756, 10756 ', 10756' '. Monitors 10740, 10740', 10740 "are substantially similar, but include some minor variations. For example, the archived graphic 10748 of monitor 10740 depicted in Figure 65 includes clippings around the alphanumeric characters 10754 (7 and 12), for example, but not the arched graphic 10748 ', 10748 "of monitors 10740', 10740" shown in Figures 66 and 67. In addition, the speed symbols 10742, 10742 '' of monitors 10740, 10740 '' illustrated in Figures 65 and 67 include an alphanumeric character 10744, 10744 '' to indicate the units of speed, for example, mm / s, on a bottom portion of monitor 10740, 10740 '', while monitor 10740 'shown in Figure 66 includes an alphanumeric character 10744' to indicate speed units, for example, mm / s , on the top portion of monitor 10740 '.
[0406] [0406] In addition, the speed symbols 10742, 10742 ', 10742' additionally comprise a clear or white circled icon 10746, 10746 ', 10746' 'with one or more black or shadowed arrows to indicate the control speed, so that, for example, one arrow refers to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. As the speed increases or decreases, the shaded region 10756, 10756 ’, 10756’ ’increases and decreases correspondingly. The status bar 10758, 10758 ’, 10758’ ’at the bottom of the monitor 10740, 10740’, 10740 ’’ indicates the operating status as normal (for example, green) or attention (for example, yellow). In the example shown in Figure 65, the status bar 10758 indicates attention operation. In the examples shown in Figures 66 to 67, bars 10758 ', 10758' '' indicate normal operation. In one aspect, the filled or shaded color of the speed region 10756, 10756 ’, 10756’ ’can be the same as the filled or shaded color of the slide bar
[0407] [0407] As shown in Figure 65, the actual speed is average (~ 12 mm / s) as indicated by the shaded region 10756 and the control speed is set to high as indicated by the three arrows in the circled icon 10726. As noted previously, the alphanumeric characters 10734 "7" and "12" include a clipping. As shown in Figure 66, the actual speed is slow (~ 7 mm / s) as indicated by the shaded region 10756 'and the command speed is set to low as indicated by the single arrow on the circled icon 10746' . As shown in Figure 67, the actual speed is slow (~ 2 mm / s) as indicated by the shaded region 10756 'and the drive speed is set to low as indicated by the single arrow on circled icon 10746'.
[0408] [0408] Figures 68 to 70 illustrate a monitor 10760 representing a speed feedback screen according to an aspect of the present description. Monitor 10760 represents a graphic image of a 10772 end actuator clamp cartridge. Monitor 10760 comprises speed symbols 10762 to indicate the control speed as well as the actual speed of the travel member (for example, the rod with I 2514 profile). In one aspect, the speed symbols 10762 comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 68 to 70. The shape or shapes of the 10762 speed symbols can include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, the speed symbols 10762 may comprise a rectangular zone 10778 that is filled or shaded to indicate the actual speed value. Control circuit 2510 causes monitor 10760 to indicate the zone in which the speed drops, as determined by control circuit 2510 as discussed above. The rectangular area 10778, can comprise graduations or marks to provide additional resolution of the control speed of the rod element with I-shaped profile
[0409] [0409] As shown in Figure 68, the automatically controlled speed icon "A" 10766 is located between 7 to 12 mm / s and the actual speed, as indicated by bar graph 10764, is located further to the upper end of the established track. As shown in Figure 69, the actual speed is further down the established range of 7 to 12 mm / s as indicated by bar graph 10764. As shown in Figure 70, the actual speed is slow, as indicated by the bar graph element 10764 and the automatic range is 0 to 7 mm / s, as indicated by the position of the icon 10766.
[0410] [0410] Figures 71 to 73 illustrate a monitor 10780 representing a speed feedback screen according to an aspect of the present description. Monitor 10780 represents a graphic image of a 10792 end actuator clamp cartridge. Monitor 10780 comprises speed symbols 10782 to indicate the control speed as well as the actual speed of the travel member (eg the rod with I 2514 profile). In one aspect, speed symbols 10782 comprise a shape or series of shapes that are filled or shaded in proportion to speed, as shown in Figures 71 to 73. The shape or shapes of speed symbols 10782 can include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, speed symbols 10782 may comprise a rectangular zone 10798 that is filled or shaded to indicate the actual speed value. Control circuit 2510 causes monitor 10780 to indicate the zone in which the speed drops, as determined by control circuit 2510 as discussed above. The rectangular element 10798 may comprise graduations or marks to provide additional resolution of the control speed of the I-profile rod element 2514. In addition, speed symbols 10782 may include an icon 10786 comprising an alphanumeric character within a geometric element to represent the automatic or manual operating modes. In the illustrated examples, the mode is set to manual "M" and the control speed is adjusted to a range of 7 to 12 mm / s. The 10786 icon is connected to a 10792 bar that indicates the midpoint of the range on the 10798 rectangular element. In this way, the automatic icon 10786 is located between the range where the actual speed can vary widely. A filled or shaded region 10790 indicates the range that the actual speed can vary between, for example, 7 to 12 mm / s. A 10784 bar chart element indicates the actual speed of the displacement member. The status bar 10796 at the bottom of monitor 10780 indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 71 and 72, the status bar 10796 indicates normal operation and, as indicated in Figure 73, the status bar 10796 indicates the status as attention. In one example, the attention state can be established because the actual speed, as indicated by the 10784 bar chart element, is well below the established range of 12 to 30 mm / s, which could indicate that the cut found thicker fabric than expected. In one aspect, the filled or shaded color of the filled or shaded region 10790 can be the same as the filled or shaded color of the 10796 status bar to indicate normal and attention modes of operation. An additional alphanumeric character 10794 indicates the speed units, for example, mm / s. Additional alphanumeric characters 10788 indicate the control speed range (for example, 0 to 7, 7 to 12, 12 to 30).
[0411] [0411] As shown in Figure 71, the manually operated speed icon "M" 10786 is located between 7 to 12 mm / s and the actual speed, as indicated by the bar chart element 10784, is within the range established immediately above bar 10792. As shown in Figure 72, the actual speed is in the established range of 12 to 30 mm / s as indicated by bar graph 10784 and just below bar 10792. As shown in
[0412] [0412] Figures 74 to 76 illustrate a 10800 monitor representing a speed feedback screen according to an aspect of the present description. The 10800 monitor represents a graphic image of a 10812 end actuator clamp cartridge. The 10800 monitor comprises speed symbols 10802 to indicate the control speed as well as the actual speed of the travel member (for example, the rod with I 2514 profile). In one aspect, the 10802 speed symbols comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 74 to 76. The shape or shapes of the 10802 speed symbols can include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, the speed symbols 10802 may comprise a rectangular element 10814 which is divided into two smaller rectangular elements 10804, 10806. The background element 10804 indicates the control speed or "adjusted" (for example, 30 mm / s) and the top element 10806 indicates the actual speed (for example, 25 mm / s). An additional alphanumeric character 10808 indicates the speed units, for example, mm / s. The 10810 status bar at the bottom of the 10800 monitor indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 74 to 75, the status bar 10810 indicates normal operation and, as shown in Figure 76, the status bar 10810 indicates the status as attention. In one example, the attention state can be established because the actual speed of 6 mm / s, as indicated by the top rectangular element 10806, is well below the command speed of 12 mm / s, which could indicate that the cutting element found thicker fabric than expected.
[0413] [0413] As shown in Figure 74, the control speed is set to 30 mm / s, as indicated by the bottom rectangular element 1084, and the actual speed is 25 mm / s, as indicated by the top rectangular element 10806. As shown in Figure 75, the control speed is set to 12 mm / s, as indicated by the bottom rectangular element 1084, and the actual speed is 11 mm / s, as indicated by the top rectangular element 10806. As shown in Figure 76, the control speed is set to 12 mm / s, as indicated by the top rectangular element 1084, and the actual speed is 6 mm / s, as indicated by the top rectangular element 10806.
[0414] [0414] Figures 77 to 80 illustrate a 10820 monitor representing a speed feedback screen according to an aspect of the present description. The 10820 monitor represents a graphic image of a 10832 end actuator clamp cartridge. The 10820 monitor comprises 10822 speed symbols to indicate the control speed as well as the actual speed of the travel member (for example, the rod with I 2514 profile). In one aspect, the speed symbols 10822 comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 77 to 80. The shape or shapes of the 10822 speed symbols can include, for example, an arched shape or any other suitable geometric shape. In one aspect, the speed symbols 10822 may comprise an arcuate element 10828 which is divided into three smaller elements 10836a, 10836b, 10836c. The smaller elements 10836a, 10836b, 10836c, when filled or shaded, represent the command speed range. An icon
[0415] [0415] As shown in Figure 77, the control speed is adjusted to a low range of 0 to 7 mm / s, as indicated by the first element 10836a, and the actual speed is about 3.5 mm / s, as indicated by needle 10840. As shown in Figure 78, the control speed is adjusted to an average range of 0 to 12 mm / s, as indicated by the second element 10836b, and the actual speed is about 9.5 mm / s as indicated by the needle
[0416] [0416] Figure 81 illustrates a monitor 10860 representing a speed feedback screen in accordance with an aspect of the present description. The 10860 monitor represents a graphic image of a 10864 battery that communicates with an overheated battery
[0417] [0417] Various aspects of the subject described in this document are defined in the following numbered examples:
[0418] [0418] Example 1. Surgical instrument comprising: a displacement member configured to move within the instrument
[0419] [0419] Example 2. Surgical instrument of Example 1, where the symbols are first symbols and the control circuit is additionally configured to: provide a setpoint speed for the engine, where the setpoint of the engine is set to cause the engine to drive the travel member at engine speed; and having the monitor display second symbols indicative of the engine setpoint speed.
[0420] [0420] Example 3. Surgical instrument from Example 1 to Example 2, wherein the symbols comprise a plurality of zones, each of which within the plurality of zones is indicative of a speed level.
[0421] [0421] Example 4. Surgical instrument of Example 3, in which the plurality of zones comprises a first zone indicating a low speed, a second zone indicating a medium speed and a third zone indicating a fast speed.
[0422] [0422] Example 5. Surgical instrument comprising: a displacement member configured to move within the instrument
[0423] [0423] Example 6. Surgical instrument of Example 5, in which the control circuit is additionally configured to cause the monitor to display symbols in a way indicative of a mode of the surgical instrument.
[0424] [0424] Example 7. Surgical instrument of Example 6, in which the mode comprises an automatic mode and a manual mode.
[0425] [0425] Example 8. Surgical instrument of Example 5, in which the control circuit is configured to: display a representative image of the displacement member; and displaying the progress of the representative image of the displacement member as the displacement member advances distally.
[0426] [0426] Example 9. Surgical instrument from Example 5 to Example 8, in which the control circuit is additionally configured to cause the monitor to display second symbols indicating the motor setpoint speed, in which the second symbol - they represent a range of engine setpoint speeds.
[0427] [0427] Example 10. Surgical instrument from Example 5 to Example 9, where the control circuit is configured to display a status bar that represents the operating status of the surgical instrument.
[0428] [0428] Example 11. Surgical instrument of Example 10, where the status bar represents normal operation when the speed of the displacement member is within a speed range of the engine setpoint.
[0429] [0429] Example 12. Surgical instrument from Example 10 to Example 11, where the status bar represents the operation of attention when the speed of the displacement member is outside a range of motor setpoint speeds.
[0430] [0430] Example 13. Surgical instrument from Example 5 to Example 12, where the control circuit is configured to: monitor a battery condition. and having the monitor display an image of a battery indicative of the battery's condition.
[0431] [0431] Example 14. Method of operating a surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument, a motor coupled to the displacement member to move the displacement member, a monitor, a control circuit coupled to the motor and the monitor, a position sensor coupled to the control circuit, in which the position sensor is configured to monitor a position of the displacement member, in which the method comprises : determine, through the control circuit, a speed of the displacement member through the position sensor; and display, through the control circuit, a symbol on the monitor that is indicative of the speed of the displacement member, in which a portion of the monitor occupied by the symbols corresponds to the speed of the displacement member, and in which the symbols representing a speed
[0432] [0432] Example 15. Method of Example 14, in which the symbol is a first symbol, in which the method additionally comprises: providing, through the control circuit, a setpoint speed to the motor, where the motor tuning is configured to cause the motor to drive the travel member at a motor speed; and display, through the control circuit, a second symbol on the monitor that is indicative of the engine setpoint speed.
[0433] [0433] Example 16. Method from Example 14 to Example 15 which further comprises displaying on the monitor, by means of the control circuit, a symbol that is indicative of a mode of the surgical instrument.
[0434] [0434] Example 17. Method of Example 16 which further comprises displaying on the monitor, by means of the control circuit, a mode comprising an automatic mode and a manual mode.
[0435] [0435] Example 18. Method from Example 14 to Example 17 which further comprises displaying on the monitor, by means of the control circuit, a symbol comprising a plurality of zones, in which each of the plurality of zones is indicative of a level of speed.
[0436] [0436] Example 19. Method of Example 18 which further comprises showing on the monitor, by means of the control circuit, a plurality of zones comprising a first zone indicating a low speed, a second zone indicating a speed medium and a third zone indicating a fast speed.
[0437] [0437] Example 20. Method from Example 14 to Example 19 which further comprises: monitoring, through the control circuit
[0438] [0438] When using a motorized surgical cutting and stapling instrument, it is possible that the user may not know the control speed or the actual speed of the cutting or firing member. Therefore, it may be desirable to provide the user with the ability to control the trigger speed through manual selection. It may be desirable to provide a surgical instrument with a first firing condition that is adjusted by the surgical instrument based on a measurement of the distance traveled by the cutting member or firing member and a time element, and a second condition which is predetermined by the user.
[0439] [0439] The description now turns to a closed loop feedback system to control the motor speed based on a variety of conditions. The closed loop feedback system, as executed by the 2510 control circuit, can be configured to implement both a standard triggering condition, for example, preprogrammed, and a triggering condition selected by the user. The trigger condition selected by the user can be selected during the open circuit portion or, otherwise, before the open circuit portion of the travel stroke. In one aspect, the trigger condition selected by the user is configured to cancel the execution of the standard or preprogrammed trigger condition.
[0440] [0440] Figure 82 is a perspective view of a 10500 surgical instrument according to one aspect of this description. In one aspect, a surgical instrument 10500 comprising an end actuator 10504 connected by means of a drive shaft 10503 to a cable assembly 10502 additionally comprises a monitor 10506. The surgical instrument 10500 comprises a start button 10508, a lever hinge 10510, a trigger trigger and a safety release 10512, and a closing trigger
[0441] [0441] In the discussion presented below, reference is also made to Figure 14. Monitor 10506 is operationally coupled to control circuit 2510, so that control circuit 2510 can make monitor 10506 show various information associated with the operation of the 10500 instrument, such as information determined by or from position sensor 2534, current sensor 2536 and / or other sensors 2538. In one aspect, monitor 10506 can be configured to display the speed at which the I-shaped rod 2514 is set to be translated by motor 2504, that is, a control speed, and / or the actual speed at which the I-shaped rod 2514 is being translated. The set speed is the set speed, the target speed or the desired speed. The control speed at which the rod with I-2514 profile must be translated must be determined both by receiving the engine setpoint, which dictates the speed at which engine 2504 drives the rod with I-2514 profile, dictated by the signal motor drive 2524 from motor control 2508 or which stores motor drive signal 2524 that is provided to motor control 2508 in a memory for subsequent retrieval. The actual speed at which the rod with I 2514 profile, or another component of the trigger drive system, is being translated can be determined by monitoring the position of the rod with I 2514 profile over a period of time, which can be tracked by the 2510 control circuit via the 2531 timer / counter input.
[0442] [0442] In several respects, the 10506 monitor of the surgical instrument 10500 can be positioned directly on the external compartment or the casing of the cable assembly 10502 or, if not, integrally associated with the surgical instrument 10500. In others The 10506 monitor can be removably or securely connectable to the 10500 surgical instrument. In still other aspects, the 10506 monitor can be separated or otherwise distinct from the 10500 surgical instrument. The 10506 monitor can be attached communicable to the 2510 control circuit via a wired connection or a wireless connection.
[0443] [0443] Figure 83 is a detailed view of a monitor portion 10506 of surgical instrument 10500 shown in Figure 82 according to one aspect of this description. The 10506 monitor includes a 10516 LCD monitor for communicating speed control, including showing the command speed, as well as whether the trigger mode is in a closed-loop (automatic) feedback mode or manually selected mode. Monitor 10506 provides transection enhancement by displaying a graphic image of an end actuator clamp cartridge 10518 with a knife 10520 and rows of clamps 10522. A left graphic marker 10524 indicates the distance 10528 that the knife 10520 has traveled (for example, 10 mm) distally and a right graphic marker 10526 indicates the speed of knife 10520 as it moves distally when the current speed is circular (for example, 3), when 1 is the speed fast, 2 is medium speed and 3 is slow speed. The speed can be selected manually or automatically based on the condition of the fabric.
[0444] [0444] Figure 84 is a logical flow chart of a 11000 process that represents a control program or a logical configuration for controlling a monitor according to an aspect of the present description. Reference is also made to Figures 14 and 82. Process 11000 represented in Figure 82 refers to the ability for a user to select the trigger stroke speed. To start the 11000 process, the 2510 control circuit starts a trip course
[0445] [0445] Figures 85 and 86 show several monitors 11100 representing a user selection menu screen according to one aspect of the present description. During a surgical procedure, the information displayed on monitor 11100 can be communicated throughout the operating room for additional screens, such as, for example, a primary screen connected to a laparoscopic camera. The 11100 monitor represents a graphic image of an 11132 end actuator clamp cartridge. An additional alphanumeric character 11104 indicates the speed units, for example, mm / s. The 11100 monitor comprises selection menu symbols 11102 to indicate the available speeds of the travel member (for example, of the rod with I 2514 profile) during a firing stroke. In one of these aspects, the selection menu symbols 10602 can comprise four menu options 11112, 11114, 11116, 11118 in the form of circles. The format of the selection menu symbols 11102 need not be circular, as numerous formats are provided. The shape or shapes of the selection menu symbols 11102 can include, for example, a triangle or any other suitable geometric shape. A first menu option
[0446] [0446] Figure 85 is representative of a modality of a monitor 11100 that presents itself to a user to choose the speed.
[0447] [0447] When the user selects the automatic mode, the control circuit 2510 can control the output of the motor 2504 and, thus, the speed of the rod with I 2514 profile, or displacement member, in response to various conditions . When the user selects the slow mode, the 2510 control circuit reduces the motor speed
[0448] [0448] Figure 86 is representative of an 11100 monitor mode during a user selection process. For example, as the user applies a force F on the articulation lever 10510, the user is able to cycle through the various menu options 11112, 11114, 11116, 11118 related to the speed mode. The upward arrow 11150 located above hinge lever 10510 in Figure 87 indicates that the user should press down on the upper half of hinge lever 10510, rolling down the menu option 11112, 11114, 11116, 11118 above the current option- highlighted. The menu options can be configured to be continuous, in which scrolling in addition to the upper option 11112 will cause the next highlighted option to be the lower option 11118 when the hinge lever 10510 is pressed again. Alternatively, the user may not be able to scroll past the upper or lower menu options once they are reached. If the 11100 monitor has the aforementioned touch screen, the user can simply touch the menu options 11112, 11114, 11116, 11118 to highlight the desired speed mode instead of, or in combination with, the 10510 toggle lever .
[0449] [0449] As the user scrolls through the 11112, 11114, 11116, 11118 options menu, the menu options change sizes. For example, in Figure 86, the user highlighted the slow mode, as the second menu option 11124 became larger. The reader will recognize
[0450] [0450] Figure 88 shows a graph 11200 that indicates the various ways in which the menu options 11112, 11114, 11116, 11118 can be highlighted during the selection process discussed above. A menu option can be highlighted when the bottom of the menu option's circle alternates between white and black shading
[0451] [0451] To adjust and / or activate the highlighted menu option, the user can lightly touch the trigger. Alternatively, the user can wait a short time without any additional user inputs, and the 2510 control circuit will automatically activate the highlighted menu option. Once the menu option has been selected, the 2510 control circuit can cause the screen to switch to a speed feedback system to enable the user to monitor the speed of the trigger course during use.
[0452] [0452] Figures 89 to 91 illustrate a monitor 11300 representing various speed feedback screens according to an aspect of the present description. The 11300 monitor represents a graphic image of an end actuator clamp cartridge
[0453] [0453] In addition, the speed symbols 11302 additionally comprise a circled icon filled or shaded 11306 with one or more white arrows to indicate the control speed, so that, for example, an arrow refers to low speed or slow, two arrows refer to medium speed and three arrows refer to high or fast speed. On the monitors shown in Figures 89 to 91, the user manually selected the quick mode from the alternative user selection screen as described above. An additional alphanumeric character 11304 indicates the speed units, for example, mm / s. As the speed of the travel member increases or decreases, the shaded region 11316 increases and decreases accordingly. The 11318 status bar at the bottom of the 11300 monitor indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 89 and 90, the status bar 11318 indicates normal operation. In the example shown in Figure 91, the status bar 11318 indicates attention operation. In one aspect, the filled or shaded color of the speed region 11316, 11316 ', 11316' 'can be the same as the filled or shaded color of the status bar 11318, 11318', to indicate normal and attention modes of operation .
[0454] [0454] As shown in Figure 89, the actual speed of the displacement member is fast, approximately 20 mm / s, as indicated by the shaded region 11316. The command speed, or the selected menu option, is adjusted as high as indicated by the three arrows in the circular icon 11306. So that at least the control speed and the actual speed correspond to each other, the status bar 11318 is shaded in green, indicating normal operation. As shown in Figure 90, the actual speed is fast, approximately 14 mm / s, as indicated by the shaded region 11316 ’and the control speed is set to high as indicated by the three arrows in the circled icon
[0455] [0455] Various aspects of the subject described in this document are defined in the following numbered examples:
[0456] [0456] Example 1. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member, where the motor is configured to translate the displacement member at a speed, and where the speed is defined by a speed mode; a monitor; and a control circuit coupled to the motor and the monitor, where the control circuit is configured for
[0457] [0457] Example 2. Surgical instrument of Example 1, in which the control circuit is additionally configured to cause the monitor to display speed symbols indicative of the speed of the displacement member.
[0458] [0458] Example 3. Surgical instrument from Example 1 to Example 2, in which the speed mode comprises an automatic mode, a slow mode, a medium mode and a fast mode.
[0459] [0459] Example 4. Surgical instrument of Example 3, in which the speed mode is set to automatic mode in the absence of data input by the user.
[0460] [0460] Example 5. Surgical instrument from Example 1 to Example 4, in which the surgical instrument additionally comprises a position sensor coupled to the control circuit.
[0461] [0461] Example 6. Surgical instrument of Example 5, in which the position sensor is configured to monitor a position of the displacement member.
[0462] [0462] Example 7. Surgical instrument from Example 5 to Example 6, where the control circuit is additionally configured to determine a speed of the displacement member by means of the position sensor.
[0463] [0463] Example 8. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member, where the motor is configured to translate the displacement member at a speed, and where the speed is defined by a speed mode; a monitor; and a control circuit coupled to the motor and the monitor, in which the control circuit is configured to: make the displacement member translate for a first distance; determining a first period of time required for the displacement member to travel the first distance; receiving a first user input; cause the monitor to display selection menu symbols indicative of the speed mode at the first user input, where the displayed selection menu symbols are limited by the first distance and the first period of time; receive a second user input corresponding to the speed mode; and adjust the engine speed based on the second user input.
[0464] [0464] Example 9. Surgical instrument of Example 8, in which the control circuit is additionally configured to cause the monitor to display speed symbols indicative of the speed of the displacement member.
[0465] [0465] Example 10. Surgical instrument of Example 9, in which the monitor displays the selection menu symbols for a first period of time and the speed symbols for a second period of time.
[0466] [0466] Example 11. Surgical instrument of Example 10, in which the first period of time is different from the second period of time.
[0467] [0467] Example 12. Surgical instrument from Example 10 to Example 11, where the first period of time is equal to the second period of time.
[0468] [0468] Example 13. Surgical instrument from Example 8 to Example
[0469] [0469] Example 14. Surgical instrument of Example 13, in which the speed mode is set to automatic mode by default.
[0470] [0470] Example 15. Method of operation of a surgical instrument, in which the surgical instrument comprises a displacement member configured to transfer within the surgical instrument, a motor coupled to the displacement member to transfer the displacement member to a speed, a monitor and a control circuit coupled to the motor and the monitor, in which the method comprises: making, through the control circuit, the displacement member travel a first distance; measure, by means of the control circuit, a first period of time necessary for the displacement member to travel the first distance; to display, through the control circuit, a symbol on the monitor that is indicative of a speed mode for the displacement member, in which the displayed symbols are limited by the first distance and the first period of time; receive, through the control circuit, a user input that corresponds to the speed mode; and adjust, through the control circuit, the motor speed based on user input.
[0471] [0471] Example 16. Method of Example 15 which further comprises displaying, through the control circuit, speed symbols on the monitor indicating the speed of the displacement member.
[0472] [0472] Example 17. Method from Example 15 to Example 16 which further comprises displaying, via the control circuit, the speed mode on the monitor, where the speed mode comprises an automatic mode, a slow mode, a medium mode and fast mode.
[0473] [0473] Example 18. Method from Example 16 to Example 17 which further comprises controlling, via the control circuit, the motor in automatic mode in the absence of a user input.
[0474] [0474] Example 19. Method from Example 16 to Example 18 which further comprises displaying, through the control circuit, the speed mode set to automatic mode on the monitor in the absence of a user input.
[0475] [0475] Example 20. Method from Example 15 to Example 19 which further comprises monitoring, by means of the control circuit, the speed of the displacement member. Closed-loop feedback control of the motor speed of a surgical stapling and cutting instrument based on system conditions
[0476] [0476] When using a motorized surgical tool for stapling and cutting, it is possible that the battery will overheat due to externally applied loads that cause a sudden stop, or stall, of the engine. Therefore, it may be desirable to inquire the voltage in the battery during a portion of the firing stroke, when the system is loaded, to assess the capacity of the battery and adjust the firing speed of the cutting member or the firing member based on this. feedback.
[0477] [0477] The description now turns to a closed loop feedback system to control the motor speed based on a variety of conditions. In one aspect, a logic flow diagram of a control program process or a logical configuration is provided to control the motor speed based on the condition of the battery. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed based on the stopped condition during a normal trip cycle. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed while in manual mode. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed based on a stopped condition during a normal trip cycle and to implement a forced cycle pause. firing time. In another aspect, a logic flow diagram of a control program process or a logical configuration is provided to control the motor speed based on a stopped condition during normal tripping operation and to reduce speed one level after the trip cycle is restarted. In another aspect, a logic flow diagram of a control program process or logic setting is provided to control the motor speed based on the stopped condition during a normal triggering cycle in manual mode and to reduce the speed by one level. after the trip cycle is restarted. In another aspect, a logic flow diagram of a process that represents a control program or a logical configuration is provided to control the motor speed based on the stopped condition during a normal trip cycle and interrupt the firing cycle until the user releases the firing trigger. In another aspect, a logic flow diagram of a control program process or logic configuration is provided to control the motor speed during the transition between speeds. These aspects are described in greater detail below, with reference to Figures 92 to 99.
[0478] [0478] A motor stop condition occurs when the rotational motor output drops to zero. Stop torque is the torque that is produced by the motor when the rotational speed of the output is zero. This can also mean the torque load that causes the rotational speed of the motor output to become zero, that is, cause the stop. Stopping is a condition in which the engine stops turning. This condition occurs when the load torque is greater than the motor starting torque, that is, the maximum torque condition. In this condition the motor drains the maximum current, but the motor shaft does not rotate. The current is called the stop current (stall current). Electric motors continue to supply torque when stopped. However, electric motors left in a stopped condition are prone to overheating and possible damage since the current flow that flows is maximum under these conditions. The maximum torque that an electric motor can produce in the long run when stopped without causing damage is called the maximum continuous stopping torque.
[0479] [0479] With reference to Figure 14, an engine stop condition can be detected using a variety of techniques. In one aspect, an engine stop can be detected by monitoring the power source 2512 to the engine 2504. If the voltage drops below a predetermined limit, it can be an indication of an engine stop condition. In another aspect, a motor stop condition can be detected by monitoring the current flowing through the motor 2504 through the current sensor 2536. If the current detected by the current sensor 2536 increases above a predetermined limit for a value greater than the stop current, motor 2504 may stall or stall. In another aspect, the current sensor 2536 can be placed in series with the ground leg of the 2504 motor. In another In this respect, a motor stop condition can be detected by monitoring the current applied to the 2504 motor in relation to the actual displacement of a displacement member, such as the I-profile rod 2514, monitored by the 2534 position sensor. motor current is greater than expected, close to or greater than the current
[0480] [0480] Consequently, with reference now to Figure 92, a logic flow diagram of a 11500 process is illustrated that represents a control program or a logical configuration to control the motor speed based on the condition of the battery, according to with an aspect of the present description. With reference also to Figures 1 to 15 and in particular to Figure 14, in one aspect, the control circuit 2510 is configured to interrogate the power source 2512 to determine the voltage on the battery during a portion of the firing cycle, when the 2500 surgical instrument is loaded, to assess the capacity of the battery and adjust the firing speed of the displacement member (for example, the trigger member 120, the trigger member 220, the trigger bar 172, the rod with I 2514 profile, etc.) based on this feedback. As previously discussed, the travel speed of the displacement member is controlled by the 2510 control circuit based on various feedback conditions. The control circuit 2510 determines a new speed of the displacement member and applies a setpoint of the motor 2522 to the control of the motor 2508 which, in turn, applies the drive signal of the motor 2524 to the motor 2504. The adjusted speed or motor control 2504 is applied to a transmission 2506. The actual speed of the travel member is determined based on feedback from position sensor 2534, power source 2512, current sensor 2536, timer / counter 2531, dos or 2538 sensors, alone or in combination. As previously discussed, factors that can affect the actual speed of the displacement member include extreme influences
[0481] [0481] Now with reference to Figures 14 and 92, according to process 11500, control circuit 2510 initiates 11502 a trip cycle of the displacement member and continuously samples 11504 the power source 2512 during the initial trip phase ( for example, during the first 0.090 "of travel as determined by the position sensor 2534). The sampled voltage is compared. 11506 to a limit voltage. In one example, for a 12 V 2512 power source, the threshold is set to 9 V. The threshold can be adjusted to accommodate the voltage requirements of the system.If the sampled voltage is greater than or equal to the limit voltage, the 2510 control circuit continues along the NO branch and the 11508 tripping cycle continues until the sampled voltage is less than the limit voltage, control circuit 2510 continues along the YES branch and control circuit 2510 communicates 11510 low battery condition through a status indicator like a screen 43, 743 (Figures 2 , 5B, 6). The status indicator can be an LED, a screen, an audible signal, among others. After reporting 11510 the battery's weak state, control circuit 2510 determines 11512 whether the surgical instrument device 2500 is in automatic mode. If surgical instrument 2500 is in automatic mode, control circuit 2510 continues along the YES branch and control circuit 2510 converts 11514 surgical instrument 2500 to manual mode and reduces 11516 motor control speed 2504 to slow. If the surgical instrument 2500 is not in automatic mode, the control circuit 2510 continues along the NO branch and the control circuit 2510 reduces the control speed of the motor 2504 to 11516. In some ways, a slow control speed can be less than 10 mm / sec and in some ways it can be less than 5 mm / sec.
[0482] [0482] Figure 93 is a logic flow diagram of a 11520 process that represents a control program or logic setting to control the motor speed based on the condition stopped during a normal trip cycle according to an aspect. of this description. In general, if the engine stops during a normal trip cycle, the 11520 process forces the engine to run in the slowest mode for the rest of the trip cycle. In this way, if the engine stops, the remaining travel is performed at a slow speed.
[0483] [0483] Referring now to Figures 14 and 93, according to process 11520, control circuit 2510 initiates 11522 a trip cycle of the displacement member at an average command speed such as 12 mm / sec. During the trip cycle, control circuit 2510 checks 11524 for an engine stop condition and if the control circuit determines 11526 that the engine is not stopped, control circuit 2510 continues along branch NO and 11532 continues the firing cycle until engine 2504 stops. As control circuit 2510 continues along the YES branch, it reduces 11528 the control speed to slow and steady.
[0484] [0484] Figure 94 is a flow diagram of a 11540 process that represents a control program or a logical configuration for controlling the motor speed while in manual mode, according to one aspect of the present description. In general, while the 2500 surgical instrument is in manual mode, the engine is at risk of stopping and the control circuit displays a warning. If the motor control speed is not interrupted or reduced by the user, the device will automatically enter a low speed for the remainder of the trip cycle. Consequently, while the surgical instrument is in manual mode and the risk of a stop is detected by the control circuit, the user has the opportunity to manually adjust the control speed to prevent an engine stop.
[0485] [0485] Now with reference to Figures 14 and 94, according to process 11540, control circuit 2510 selects 11542 the manual mode upon receiving a user request and initiates 11544 a trip cycle of the displacement member. During the trip cycle, control circuit 2510 checks 11546 if there is a motor stop and if control circuit 2510 does not detect a low speed 11548, control circuit 2510 proceeds along the NO branch and the control circuit control 2510 continues the 11550 firing cycle until a low speed is detected 11548. When a speed
[0486] [0486] Figure 95 is a flow chart of a 11560 process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and implementing a forced pause in the trip trip cycle. according to one aspect of the present description. In general, when the engine stops during a normal trip cycle, the control circuit stops the engine and forces a break in the trip cycle.
[0487] [0487] Now with reference to Figures 14 and 95, according to process 11560, control circuit 2510 initiates 11562 a trip cycle of the displacement member and stores 11564 the motor current speed (for example, SLOW: 0 <V <10 mm / sec; AVERAGE: 10 mm / sec ≤ V ≤ 12.5 mm / sec; FAST: 12.5 mm / sec <V <15 mm / sec) and checks 11566 if there is a engine stop. The control circuit 2510 then determines 11568 if the motor 2504 has stopped. If the 2504 motor has stopped, the control circuit continues along the NO branch and the 2510 control circuit continues the 11570 trip cycle and checks 11566 if there is an engine stop condition until the 2504 engine stops. The control circuit 2510 then proceed along the YES branch and evaluate three conditions. A first evaluation determines 11572 if the speed of the previous 2504 motor was FAST and if it is, the control circuit 2510 sets 11574 a delay greater than or equal to 2 seconds and less than or equal to 5 seconds and continues 11576 o firing cycle at stored speed. At the same time, control circuit 2510 indicates 11578 the status of surgical instrument 2500 by displaying or showing an alert light, among other feedback techniques such as screen 43, 743 (Figures 2, 5B, 6). A second evaluation determines 11580 if the speed of the previous 2504 motor was AVERAGE and if it is, the control circuit 2510 sets 11582 a delay greater than or equal to 1 and less than 2 seconds and continues 11584 the firing cycle at the stored speed. At the same time, the 2510 control circuit indicates
[0488] [0488] Figure 96 is a logical flow chart of a 11600 process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and reducing the speed one level after the cycle. triggering function is restarted in accordance with one aspect of the present description. In general, when the motor stops during a normal trip cycle, the motor speed is reduced one level below the motor current speed after the trip cycle is restarted. If the engine speed is already at the slowest speed, a forced pause of a predetermined duration is required before restarting the trip cycle at the slowest speed. Consequently, if the engine stops, the control circuit slows the engine down to a level below the stored speed.
[0489] [0489] Now with reference to Figures 14 and 96, according to process 11600, the control circuit 2510 starts 11602 a trip cycle of the displacement member and stores 11604 the motor current speed (for example, SLOW: V <10 mm / sec; AVERAGE: 10 mm / sec ≤ V ≤ 12.5 mm / sec; FAST: V> 12.5 mm / sec) and checks 11606 if there is an engine stop condition. Control circuit 2510 then determines 11608 whether motor 2504 has stopped. If motor 2504 has stopped, control circuit 2510 continues along branch NO and control circuit 2510 continues 11610 the trip cycle and checks 11606 if there is a condition of the engine stopping until the engine 2504 stops. control 2510 then proceeds along the YES branch and evaluates three conditions. A first assessment determines 11612 whether the speed of the previous 2504 motor was FAST and if it is, the 2510 self-tuning control circuit 11614 the motor speed 2504 to AVERAGE and 11602 restarts the trip cycle at the new AVERAGE speed. At the same time, control circuit 2510 indicates 11616 the status of surgical instrument 2500 by showing or showing an alert light, among other feedback techniques such as screen 43, 743 (Figures 2, 5B, 6). A second evaluation determines 11618 if the speed of the previous 2504 motor was AVERAGE and, if it is, the self-tuning control circuit 2510 11620 the speed of the 2504 motor to SLOW speed and 11602 restarts the trip cycle at the new SLOW speed. At the same time, the control circuit 2510 indicates 11622 the status by showing or showing an alert light, among other feedback techniques such as screen 43, 743. A third evaluation determines 11624 if the engine speed 2504 previous one was SLOW and if it is, the control circuit 2510 forces a 11626 pause of a predetermined duration. After a predetermined pause, control circuit 2510 restarts 11602 the tripping cycle at SLOW speed. At the same time, control circuit 2510 indicates 11628 the status by showing or showing an alert light, among other feedback techniques such as screen 43, 743. Process 11600 continues until the travel member reaches the end of the stroke.
[0490] [0490] Figure 97 is a flow chart of a 11630 process that represents a control program or logic setting to control the motor speed based on the stopped condition during a normal triggering cycle in manual mode and reduce the speed one level after the trip cycle will be restarted according to an aspect of this description. In general, when the engine stops during a normal trip cycle while in manual mode, the control circuit reduces the engine speed by one level after the trip cycle is restarted. If already at the slowest speed, the control circuit forces a pause of a predetermined duration before restarting the firing cycle at the lowest speed again. The user can choose only one speed that is slower than the speed at which the stop occurred for the rest of the trip cycle. Consequently, if the engine stops while in manual mode, the control circuit decreases the engine speed by one level and blocks the previous highest engine speeds.
[0491] [0491] Now with reference to Figures 14 and 97, according to process 11630, control circuit 2510 initiates 11632 a trip cycle of displacement member 11634 and stores the motor current speed (for example, SLOW: V <10 mm / sec; AVERAGE: 10 mm / sec ≤ V ≤ 12.5 mm / sec; FAST: V> 12.5 mm / s) and checks 11636 if there is an engine stop condition. Control circuit 2510 then determines 11638 whether motor 2504 has stopped. If engine 2504 has stopped, control circuit 2510 continues along branch NO and control circuit 2510 continues 11640 the firing cycle and checks 11636 if there is a condition of the engine stopping to stop motor 2504. The control circuit 2510 then proceeds along the YES branch and evaluates three conditions. A first evaluation determines 11642 whether the speed of the previous 2504 motor was FAST and if it is, the 2510 control circuit reduces 11644 to AVERAGE and disables, inhibits, or blocks the FAST speed. Control circuit 2510 restarts 11632 the trip cycle at the new AVERAGE speed while blocking FAST. The 2510 control circuit can indicate the status of the 2500 surgical instrument by displaying or showing a warning light, among other feedback techniques. A second evaluation determines 11646 whether the speed of the previous 2504 motor was AVERAGE and if it is, the 2510 control circuit reduces 11648 motor speed to SLOW speed and disables, inhibits, or blocks the AVERAGE and FAST speeds. The 2510 control circuit restarts 11632 the trip cycle at the new SLOW speed while blocking the AVERAGE and FAST speeds. The 2510 control circuit can indicate the status by displaying or showing an alert light, among other feedback techniques. A third evaluation determines 11650 if the speed of the previous 2504 motor was SLOW and if it is, the 2510 control circuit forces a 11652 pause of a predetermined duration. After a predetermined pause, control circuit 2510 restarts 11632 the trip cycle at a speed that is slower than the SLOW speed at which the engine stopped for the rest of the trip cycle. At the same time, the control circuit 2510 indicates 11628 the status by showing or showing an alert light, among other feedback techniques. The 11600 process continues until the displacement member reaches the end of the course.
[0492] [0492] Figure 98 is a 11660 logical flowchart of a process that represents a control program or a logical configuration for controlling the motor speed based on the stopped condition during a normal trip cycle and interrupting the trip cycle until the user release the trigger according to one aspect of the present description. In general, when the engine stops during a normal trip cycle, the control circuit stops even the user (for example, the surgeon) to release the trigger. When the trip cycle is restarted, the control circuit restarts at the same command speed at which the motor stopped.
[0493] [0493] Referring now to Figures 14 and 98, according to process 11660, control circuit 2510 initiates 11622 a trip cycle of the displacement member and checks 11664 if there is a motor stop. If the motor is not stopped 11666, the control circuit 2510 continues along the NO branch and checks 11664 if there is a motor stop until the motor 2504 stops. If there is a motor stop, the control circuit 2510 continues along the YES branch and interrupts 11668 motor 2504 and the trip cycle. Control circuit 2510 indicates 11674 status and alerts you to a motor stop condition on a screen 43, 743 (Figures 2, 5B, 6) and instructs the user (for example, the surgeon) to release the trigger. Control circuit 2510 then determines 11672 whether the trigger is released and continues along the NO branch until the trigger is released. The control circuit 2510 then proceeds along the YES branch and continues the 11670 firing cycle until the motor 2504 stops or the travel member reaches the end of the stroke.
[0494] [0494] Figure 99 is a logical flow chart of a 11680 process that represents a control program or a logical configuration to control the motor speed during the transition between speeds according to an aspect of the present description. In general, during control schemes based on time, distance or speed, the transition from one speed to another is likely to affect the target value for the next comparison. In order to avoid constant speed changes triggered mainly by changes in control speed, zones immediately after the last speed change are excluded from consideration. In one respect, the return speed is always the fastest speed.
[0495] [0495] Now with reference to Figures 14 and 99, according to process 11680, the control circuit 2510 starts 11682 a trip cycle of the displacement member and monitors 11684 the position of the displacement member based on the position sensor 2534 until the displacement member reaches a target for comparison of changes in speed. When the displacement member reaches a target position for comparison, control circuit 2510 determines 11686 whether the previous zone has initiated a change in speed. If the previous zone initiated a change in speed, the control circuit 2510 continues along the YES branch and continues to fire 11688 at the current control speed and monitors 11684 if the limb offset has reached a target for comparison. The process continues until control circuit 2510 determines 11686 that the previous zone did not initiate a change in speed. The control circuit 2510 proceeds along the NO branch and compares 11690 the value of the expected speed of the travel member with the value of the actual speed of the travel member. Control circuit 2510 adjusts 11692 the new command speed of motor 2504 to the next zone based on the results of comparison 11690. After setting 11692 to new command speed 2504, the control circuit determines 11694 if the displacement is located in the final zone. If the travel member is not located in the end zone, the 2510 control circuit continues along the NO branch and continues to fire at the new command speed and the process continues until the travel member is located at Zone Ends. At this point, control circuit 2514 continues to fire 11696 until the displacement member reaches the end of the stroke. Otherwise, the control circuit 2510 continues 11688 to trigger the displacement member at the current control speed.
[0496] [0496] Various aspects of the subject described in this document are defined in the following numbered examples:
[0497] [0497] Example 1. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones;
[0498] [0498] Example 2. The surgical instrument of Example 1 in which, when the sampled voltage is less than the limit voltage, the control circuit is additionally configured to determine whether the surgical instrument is in automatic mode or in manual mode.
[0499] [0499] Example 3. The surgical instrument of Example 2 in which, when the surgical instrument is in automatic mode, the control circuit is additionally configured to convert the operation of the surgical instrument to manual mode.
[0500] [0500] Example 4. The surgical instrument of Example 3 in which the control circuit is additionally configured to reduce the control speed to a second speed, where the second speed is less than the first speed.
[0501] [0501] Example 5. The surgical instrument of Example 4 in which the second speed is greater than zero and less than 10 mm / sec.
[0502] [0502] Example 6. The surgical instrument from Example 1 to Example 5 in which the first gap is between 2 mm and 3 mm.
[0503] [0503] Example 7. The surgical instrument from Example 1 to Example 6 in which the control circuit is configured to communicate the state of the power source when the sampled voltage is less than the limit voltage.
[0504] [0504] Example 8. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor comprising a drive shaft, the motor being coupled to the displacement member to translate the displacement member; a control circuit coupled to the engine; where the control circuit is configured to: start the trip of the displacement member at a control speed set for a first speed, where the control speed is the speed applied to the motor; check for an engine stop condition; and continue the trip trigger at the first speed when the engine is not stopped; or reduce the control speed to a second speed, where the second speed is slower than the first speed.
[0505] [0505] Example 9. The surgical instrument of Example 8 in which the first speed is between 10 mm / sec and 12 mm / sec and the second speed is less than 9 mm / sec.
[0506] [0506] Example 10. The surgical instrument from Example 8 to Example 9 where the control circuit is configured to indicate an engine stop alert.
[0507] [0507] Example 11. The surgical instrument of Example 10 in which the control circuit is configured to: adjust the surgical instrument in manual mode based on an input received; detect a low engine speed condition; indicate the low engine speed condition for a predetermined period of time
[0508] [0508] Example 12. The surgical instrument from Example 8 to Example 11 in which the control circuit is configured to: store a current control speed in memory as a fast speed, an average speed, or a slow speed, where the fast speed is greater than the average speed and the average speed is greater than the slow speed; and when an engine stop condition is detected, the control circuit is configured to: stop the engine for a first delay when the stored control speed is a fast speed and continue the trip of the travel member at fast speed; stop the engine for a second delay when the stored control speed is an average speed and continue the trip of the travel member at average speed; or stop the engine for a third delay when the stored control speed is an average speed and continue the trip of the travel member at slow speed; where the first delay is greater than the second delay and the second delay is greater than the third delay.
[0509] [0509] Example 13. The surgical instrument of Example 12 in which: the slow speed is greater than zero and less than 10 mm / sec; the average speed is greater than or equal to 10 mm / sec and less than or equal to 12.5 mm / sec; and the fast speed is greater than 12.5 mm / sec and less than 15 mm / sec.
[0510] [0510] Example 14. The surgical instrument from Example 12 to Example 13, in which: the first delay is greater than or equal to 2 seconds and less than five seconds; the second delay is greater than or equal to 1 second and less than two seconds; and the third delay greater than 0 and less than 1 second.
[0511] [0511] Example 15. The surgical instrument from Example 8 to Example 14 where the control circuit is configured to: store a current control speed in memory as a fast speed, an average speed, or a slow speed, where the fast speed is greater than the average speed and the average speed is greater than the slow speed; and when an engine stop condition is detected, the control circuit is configured to: auto-adjust the control speed to a medium speed when the stored control speed is a fast speed; auto-adjust the control speed to a smooth speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[0512] [0512] Example 16. The surgical instrument from Example 8 to Example 15 in which the control circuit is configured to: interrupt the trigger stroke of a current command speed in memory as a fast speed, an average speed, or a slow speed, in which the fast speed is greater than the average speed and the half speed is greater than the slow speed; and when an engine stop condition is detected, the control circuit is configured to: reduce the control speed to an average speed and inhibit fast speed when the stored control speed is a fast speed; reduce the control speed to a slow speed and inhibit an average speed and a fast speed when the stored control speed is an average speed; and stop the engine when the stored control speed is a slow speed.
[0513] [0513] Example 17. The surgical instrument from Example 8 to Example 16 in which when an engine stop condition is detected, the control circuit is configured to: stop the engine;
[0514] [0514] Example 18. A surgical instrument comprising: a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a source of energy; a motor coupled to the displacement member to move the displacement member; a control circuit coupled to the power source and the motor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; where the control circuit is configured to: initiate the trip of the travel member at a control speed set to a first speed, where the control speed is the speed applied to the motor; monitor the position of the displacement member in a current zone until the displacement member reaches a target position for comparison; when the displacement member reaches the target position, determine whether a change in control speed was initiated in a previous zone before the current zone; and continue shooting the displacement member at the control speed when a change in the control speed was initiated in the previous zone.
[0515] [0515] Example 19. The surgical instrument of Example 18 in which, when a change in the control speed is not initiated in the previous zone, the control circuit is configured to: compare an expected speed of the displacement member for a speed displacement limb; and adjust the command speed based on the results of the comparison.
[0516] [0516] Example 20. The surgical instrument of Example 19 in which the control circuit is configured to: determine when the displacement is in an end zone; and continue shooting the mem-
[0517] [0517] Example 21. The surgical instrument from Example 19 to Example 20 in which the control circuit is configured to continue triggering the displacement member at the current control speed when the displacement member is not in the end zone. Techniques for closed circuit control of motor speed of a surgical cutting and stapling instrument
[0518] [0518] Figure 100 is a logical flowchart that represents an 8000 process from a control program or a logical configuration to adjust the speed of a displacement member based on the magnitude of one or more error terms based on the difference between an actual speed of the displacement member and a command or directed speed of the displacement member over a specific increment of time or distance according to an aspect of the present description. Process 8000 can be performed by surgical instrument 2500 (for example, control circuit 2510). Consequently, in relation to Figure 14, the control circuit 2510 sets 8002 to a directed speed of the displacement member, such as, for example, the rod with I-shaped profile 2514. The directed speed is equal to the control speed, which is adjusted by control circuit 2510. For example, to adjust the control speed or the driven speed of the travel member, control circuit 2510 applies a motor setpoint 2522 to a motor control 2508 that applies a signal drive motor 2524 to motor 2504 to advance the displacement member (for example, I-profile rod 2514) via a transmission
[0519] [0519] In accordance with process 8000, the error can be based on at least one of a short-term error (S), a cumulative error (C), a rate of change error (R), and the number of overshoot errors (N) as described above together with Figures 16 to 22. In one aspect, the surgical instrument 2500 further comprises an end actuator 2502, in which the displacement member (for example, stem with profile in I 2514) is configured to move within the end actuator 2502. In addition, in several aspects, the error can be determined during a predetermined increment of distance or time. In one aspect, the control circuit 2510 is configured to determine a zone in which the displacement member is located.
[0520] [0520] Various aspects of the subject described in this document are defined in the following numbered examples:
[0521] [0521] Example 1. Method of speed adjustment of a motorized surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, in which the position sensor is configured to measure the position of the displacement member, and a timer circuit coupled to the control circuit, in which the timer circuit is configured to measure the elapsed time, in which the method comprises: adjusting, through the control circuit, a directed speed of the displacement member; determine, through the control circuit, a speed
[0522] [0522] Example 2. Method according to claim 1, characterized in that the error is based on at least one of a short-term error (S), a cumulative error (C), an error rate of change (R) and a number of overshoot errors (N).
[0523] [0523] Example 3. Method from Example 1 to Example 2, in which the surgical instrument additionally comprises an end actuator, in which the displacement member is configured to move within the end actuator.
[0524] [0524] Example 4. Method from Example 1 to Example 3, where the error is determined over a predetermined time increment.
[0525] [0525] Example 5. Method from Example 1 to Example 4, where the error is determined over a predetermined increment of the distance.
[0526] [0526] Example 6. Method from Example 1 to Example 5 which further comprises determining, by means of the control circuit, a zone in which the displacement member is located.
[0527] [0527] The functions or processes 8000, 8600, 8700, 8800, 9400, 9450, 9800, 9850, 10400, 10450, 10550, 11000, 11500, 11520, 11540, 11560, 11600, 11630, 11660, 11680 described herein can be performed by any of the processing circuits described here, such as control circuit 700 described in relation to Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9, microcontroller 1104 described in relation to Figures 10 and 12, and / or the control circuit 2510 described in Figure 14.
[0528] [0528] The aspects of the motorized surgical instrument can be practiced without the specific details revealed in the present invention. Some aspects were shown as block diagrams instead of details. Parts of this description can be presented in terms of instructions that operate on data stored in a computer's memory. An algorithm refers to the self-consistent sequence of steps that lead to the desired result, in which a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared and manipulated in any other way. These signs can be called bits, values, elements, symbols, characters, terms, numbers. These terms and similar terms can be associated with the appropriate physical quantities and are merely convenient identifications applied to these quantities.
[0529] [0529] In general, the aspects described here, which can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be seen as being composed of various types of "electrical circuits". Consequently, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one separate electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits 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 performs the processes and / or device described here), electrical circuits that form a memory device (for example, forms of random access memory), and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment) . These aspects can be implemented in analog or digital form, or combinations of them.
[0530] [0530] The previously mentioned description presented aspects of the devices and / or processes through the use of block diagrams, flowcharts, and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented by means of specific application integrated circuits (ASICs), field programmable port arrangements (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects revealed here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs operating on one or more computers). computer systems), as one or more programs operating on one or more processors (for example, as one or more programs operating on one or more microprocessors), as firmware, or virtually as any combination thereof, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[0531] [0531] The mechanisms of the revealed subject can be distributed
[0532] [0532] The previously mentioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described with the purpose of illustrating the principles and practical application, thus allowing the person skilled in the art to use the various aspects and with several modifications, as they are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.

权利要求:
Claims (6)
[1]
1. Speed adjustment method on a motorized surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, where the position sensor is configured to measure the position of the displacement member, and a timer circuit coupled to the control circuit, in which the timer circuit is configured to measure the elapsed time, characterized by comprising: adjusting, through the control circuit, a speed directed to the displacement member; determine, by means of the control circuit, a real speed of the displacement member; determine, by means of the control circuit, an error between the directed speed of the displacement member and the real speed of the displacement member; and controlling, through the control circuit, the actual speed of the displacement member based on the magnitude of the error.
[2]
2. Method according to claim 1, characterized in that the error is based on at least one of a short-term error (S), a cumulative error (C), an error rate of change (R) and a overrun errors (N).
[3]
Method according to claim 1, characterized in that the surgical instrument additionally comprises an end actuator, in which the displacement member is configured to move within the end actuator.
[4]
Method according to claim 1, characterized in that the error is determined over a predetermined increment of time.
[5]
Method according to claim 1, characterized in that the error is determined over a predetermined increment of distance.
[6]
6. Method according to claim 1, characterized in that it additionally comprises the determination, by means of the control circuit, of a zone in which the displacement member is located.

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同族专利:

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公开号 | 公开日

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JP2020524554A|2020-08-20|

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US20190125365A1|2019-05-02|

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EP3417804A1|2018-12-26|

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CN110785134A|2020-02-11|

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WO2018234887A1|2018-12-27|

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US20200268394A1|2020-08-27|

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EP3417804B1|2020-04-29|

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US10307170B2|2019-06-04|

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US20180360470A1|2018-12-20|

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US10595882B2|2020-03-24|

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US11213302B2|2022-01-04|

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

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

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

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

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

优先权:

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申请号 | 申请日 | 专利标题

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US15/628,045|US10307170B2|2017-06-20|2017-06-20|Method for closed loop control of motor velocity of a surgical stapling and cutting instrument|

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US15/628,045|2017-06-20|

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PCT/IB2018/053440|WO2018234887A1|2017-06-20|2018-05-16|Techniques for closed loop control of motor velocity of a surgical stapling and cutting instrument|

---