closed-loop feedback of the motor speed of the surgical stapling and cutting instrument based on the

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member configured to translate over a plurality of predefined zones. A motor comprising a drive shaft is coupled to the displacement member. A control circuit is attached to the motor. A position sensor is coupled to the control circuit to monitor the rotation of the drive shaft. A timer circuit is coupled to the control circuit. The control circuit is configured to receive rotations of the drive shaft in a current zone defined by a defined speed range, measure the time at a defined position of the speed range, where the measured time is defined as the time that the member displacement takes to traverse the rotation interval based on a predetermined number of rotations of the drive shaft, and to define a command speed of the displacement member for a subsequent zone based on the time measured in the current predefined zone.
公开号:BR112019027223A2
申请号:R112019027223-2
申请日:2018-05-17
公开日:2020-07-07
发明作者:Frederick E. Shelton Iv；Jason L. Harris；Shane R. Adams；David C. Yates；Sarah A. Worthington
申请人:Ethicon Llc；
IPC主号:

专利说明:

[001] [001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND OF THE INVENTION
[002] [002] In a motorized surgical cutting and stapling instrument, it may be useful to control the speed of a cutting member or to control the articulation speed of an end actuator. The speed of a displacement member can be determined by measuring the time elapsed at the predetermined position intervals of the displacement member or by measuring the position of the displacement member at predetermined time intervals. The control can be open circuit or closed circuit. Such measurements can be useful for assessing tissue conditions, such as tissue thickness, and adjusting the speed of the cutting member during a firing stroke to take tissue conditions into account. The thickness of the fabric can be determined by comparing the expected speed of the cutting member with the actual speed of the cutting member. In some situations, it may be useful to pivot the end actuator at a constant pivot speed. In other situations, it may be useful to drive the end actuator at a different pivot speed than the standard pivot speed in one or more regions within a scan range of the end actuator.
[003] [003] When using a motorized surgical cutting and stapling instrument, it is possible that the speed of the cutting member or the firing member needs to be measured and adjusted to compensate for the tissue conditions. In thick fabric, the speed can be decreased to reduce 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 fabric, the speed can be increased if the firing force experienced by the cutting member or firing member is less than a limit. Therefore, it may be desirable to provide a closed loop feedback system that measures and adjusts the speed of the cutting member or firing member based on a measurement of time over a specific number of rotations of the drive shaft. It may be desirable to measure the number of rotations of the drive shaft at a fixed time. SUMMARY OF THE INVENTION
[004] [004] In one aspect, the present invention provides a surgical instrument. The surgical instrument comprises a displacement member configured to 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a defined rotation interval; measuring the time at a defined position of the rotation interval, where the measured time is defined as the time that the displacement member takes to traverse the rotation interval based on a predetermined number of revolutions of the drive shaft; and defining a command speed of the travel member for a subsequent zone based on the time measured in the current predefined zone.
[005] [005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument across a plurality of predefined zones; a motor 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a defined rotation interval; measuring time as the displacement member moves from a parked position to a target position based on a predetermined number of rotations of the drive shaft; and defining a command speed of the displacement member for a first dynamic zone based on the measured time.
[006] [006] In another aspect, the present description provides a method of controlling the speed of the motor in a surgical instrument, the surgical instrument which comprises a displacement member configured to move within the surgical instrument over a plurality of predefined zones, a motor comprising a drive shaft, the 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, the position sensor configured to monitor the rotation of the drive axis, a timer circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time, in which the method comprises: receiving, from a position sensor, rotations of the drive axis in a zone current defined by a defined rotation interval; measure, by means of a timer circuit, a time at a defined position of the rotation interval, where the measured time is defined by the time that the displacement member takes to cross the rotation interval based on a predetermined number of rotations of the drive shaft; and defining, by means of the control circuit, a speed of command of the displacement member for a subsequent zone based on the time measured in the current zone. FIGURES
[007] [007] The innovative characteristics of the aspects described here are presented with particularity in the attached claims. However, these aspects, both in relation to the organization and the methods of operation, can be better understood by reference to the description below, taken in conjunction with the attached drawings.
[008] [008] Figure 1 is a perspective view of a surgical instrument that has a set of interchangeable drive axes operationally coupled to it, according to an aspect of the present description.
[009] [009] Figure 2 is an exploded view of a portion of the surgical instrument of Figure 1, in accordance with an aspect of the present description.
[0010] [0010] Figure 3 is an exploded assembled view of portions of the interchangeable drive shaft assembly, in accordance with an aspect of the present description.
[0011] [0011] Figure 4 is an exploded view of an end actuator of the surgical instrument of Figure 1, according to an aspect of the present description.
[0012] [0012] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of Figure 1, which comprises two drawing sheets, according to one aspect of the present description.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly and the feeding assembly and the handle assembly and the interchangeable drive shaft assembly, according to an aspect of the present description.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, in which the absolute positioning system comprises an arrangement of the motor controlled drive circuit comprising an arrangement of the sensor, according to a aspect of this description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor arrangement of an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor arrangement, according to one aspect of the present description.
[0019] [0019] Figure 12 is a diagram of a position sensor comprising a magnetic rotating absolute positioning system according to an aspect of the present description.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator in accordance with an aspect of the present description.
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description.
[0022] [0022] Figure 15 illustrates a diagram showing two examples of displacement member courses performed in accordance with an aspect of the present description.
[0023] [0023] Figure 16A illustrates an end actuator comprising a firing member coupled to an i-profile beam comprising a cutting edge, in accordance with an aspect of the present description.
[0024] [0024] Figure 16B illustrates an end actuator where the beam with an i-profile is located in a target position at the top of a ramp with the upper pin engaged in the T-slot, according to an aspect of the present description.
[0025] [0025] Figure 17 illustrates a thread drive system
[0026] [0026] Figure 18 illustrates the firing stroke of the beam with an i-profile which is illustrated by a graph aligned with the end actuator, according to an aspect of the present description.
[0027] [0027] Figure 19 is a graphical representation comparing the travel of the beam 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 an aspect of this description.
[0028] [0028] Figure 20 is a graphical representation comparing the thickness of the fabric as a function of the defined rotation range of the beam of the i-profile beam (upper graph), the firing force as a function of the defined rotation range of the beam with the profile in i (second graph from top to bottom), dynamic time checks as a function of the defined speed range of the beam travel with i-profile (third graph from top to bottom) and the defined speed of the beam with i-profile as a function the defined speed range of the beam travel with i-shaped profile (bottom graph), according to one aspect of this description.
[0029] [0029] Figure 21 is a graphical representation of the firing force as a function of time comparing the slow, medium and fast displacement speeds of the beam with an i-profile, according to one aspect of the present description.
[0030] [0030] Figure 22 is a logic flow diagram of a process that represents a control program or a logical configuration to control the command speed at an initial trigger stage, according to an aspect of the present description.
[0031] [0031] Figure 23 is a logic flow diagram of a process that represents a control program or a logical configuration for controlling the command speed in a dynamic trigger stage, according to an aspect of the present description. DESCRIPTION
[0032] [0032] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document for reference in their respective totalities:
[0033] [0033] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0034] [0034] Attorney document number END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0035] [0035] Attorney document number END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0036] [0036] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0037] [0037] Attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0038] [0038] Attorney Document No. END8196USNP / 170059, entitled SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0039] [0039] Attorney document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELOCITY
[0040] [0040] Attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0041] [0041] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0042] [0042] Attorney document number END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0043] [0043] Attorney document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0044] [0044] Attorney document number END8268USNP / 170186,
[0045] [0045] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0046] [0046] Attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0047] [0047] Attorney Document No. END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Jason L. Harris et al., Filed on June 20,
[0048] [0048] Attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0049] [0049] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0050] [0050] The applicant of the present application holds the following US design patent applications filed simultaneously with him and which are each incorporated herein by reference in their respective totalities:
[0051] [0051] Attorney document number END8274USDP / 170193D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0052] [0052] Attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0053] [0053] Attorney document number END8272USDP / 170195D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0054] [0054] Certain aspects are shown and described to provide an understanding of the structure, function, manufacture and use of the devices and methods described. The features shown or described in one example can be combined with the features in other examples and modifications and variations are within the scope of this description.
[0055] [0055] The terms "proximal" and "distal" are related to a doctor manipulating the handle of the surgical instrument where "proximal" refers to the portion closest to the doctor and "distal" refers to the portion located in the direction furthest from the doctor. For convenience, the spatial terms "vertical", "horizontal", "above" and "below" used in relation to the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0056] [0056] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted into a natural orifice or into an incision or perforation formed in tissues. The functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or into an access device that has a working channel through which the end actuator and the elongated drive shaft of a surgical instrument can be inserted. be advanced.
[0057] [0057] Figures 1 to 4 show a surgical instrument driven by motor 10 to cut and hold, which may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 that comprises a handle assembly 14 that is configured to be picked up, manipulated and actuated by the physician. The housing 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operatively coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in conjunction with robotically controlled surgical systems. Thus, the term "compartment" may also cover a compartment or similar portion of a robotic system that houses or, otherwise, operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the interchangeable drive shaft assemblies. The term "structure" can refer to a portion of a hand held surgical instrument. The term "structure" can also represent a portion of a robotically controlled surgical instrument and / or a portion of the robotic system that can be used to operationally control the surgical instrument. Interchangeable drive shaft assemblies can be used with various robotic systems, instruments, components and methods described in US Patent No. 9,072,535, entitled "SURGICAL
[0058] [0058] Figure 1 is a perspective view of a surgical instrument 10 having an interchangeable drive shaft assembly 200 operably coupled to it, in accordance with an aspect of the present description. Housing 12 includes an end actuator 300 comprising a surgical cutting and clamping device configured to operationally support a 304 surgical clamp cartridge inside. Housing 12 can be configured for use in conjunction with interchangeable drive shaft assemblies which include end actuators that are adapted to hold different sizes and types of clamp cartridges that have different lengths, sizes and types of drive shaft. Enclosure 12 can be used 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 adapted end actuator arrangements for use in conjunction with various surgical applications and procedures. End actuators, drive shaft assemblies, handles, surgical instruments and / or surgical instrument systems can use any fastener or fasteners suitable for fastening tissue. For example, a fastener cartridge comprising a plurality of fasteners stored therein removably can be removably inserted into and / or attached to the end actuator of a drive shaft assembly.
[0059] [0059] The handle assembly 14 may comprise a pair of interconnectable segments of the handle compartment 16 and 18 interconnected by screws, push-fit elements, adhesive, etc. The grip compartment segments 16, 18 cooperate to form a portion of the pistol grip 19 that can be handled and manipulated by the physician. The handle assembly 14 operationally supports a plurality of drive systems configured to generate and apply control movements to the corresponding portions of the interchangeable drive shaft assembly that is operationally attached to it. A screen can be provided under a cover 45.
[0060] [0060] Figure 2 is an exploded view of a portion of the surgical instrument 10 of Figure 1, in accordance with an aspect of the present description. The handle assembly 14 can include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator, such as a trigger. closing 32 pivotally supported by structure 20. The closing trigger 32 is pivotally coupled to the handle assembly 14 by a pivot pin 33 to enable the closing trigger 32 to be manipulated by a physician. When the physician wields the pistol grip portion 19 of the grip assembly 14, the closing trigger 32 can rotate from an initial or "not acted" position to an "acted" position and, more particularly, to a fully compressed or completely actuated.
[0061] [0061] The handle assembly 14 and the structure 20 can operationally support a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly that is attached to it. The firing drive system 80 may employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. Electric motor 82 may be a brushed DC DC motor having a maximum rotation speed of approximately 25,000 rpm , for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. Electric motor 82 can be powered by a power source 90 which can comprise a removable battery
[0062] [0062] The electric motor 82 can include a rotary drive shaft (not shown), which, in an operational way, interfaces with a gear reducer assembly 84, which is mounted in coupling hitch with a set or rack, of teeth drive member 122 on a longitudinally movable drive member 120. The longitudinally movable drive member 120 has a rack of drive teeth 122 formed thereon for engagement with a corresponding drive gear 86 of the gear reducer assembly 84.
[0063] [0063] In use, a voltage polarity provided by the power supply 90 can operate the electric motor 82 clockwise, where the voltage polarity applied to the electric motor by the battery can be reversed in order to operate the electric motor 82 in the anticlockwise. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "PD". The handle assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power source 90. The handle assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0064] [0064] The activation of the electric motor 82 can be controlled by a trigger trigger 130 that is pivotally supported on the handle assembly 14. The trigger trigger 130 can be pivoted between an unacted position and an acted position.
[0065] [0065] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 that comprises an elongated channel 302 that is configured to operationally support a surgical staple cartridge
[0066] [0066] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 in the manner described in the previously mentioned reference of the publication of patent application no. 2014/0263541 Anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0067] [0067] Figure 3 is another exploded assembled view of portions of the interchangeable drive shaft assembly 200, according to an aspect of the description. The interchangeable drive shaft assembly 200 may include a sustained firing member 220 to perform axial displacement inside the back 210. The firing member 220 includes an intermediate firing shaft 222 configured to attach to a portion of distal cut or cutting bar 280. The firing member 220 can also be called "second drive shaft" and / or "second drive shaft set". The intermediate firing drive shaft 222 may include a longitudinal slot 223 at its distal end configured to receive a tab 284 at the proximal end 282 of the cutting bar 280. The longitudinal slot 223 and the proximal end 282 can be sized and configured to enable the relative movement between them and may comprise a sliding joint 286. The sliding joint 286 may enable the intermediate firing drive shaft 222 of the firing member 220 to pivot the end actuator 300 around the hinge joint 270 without moving, or at the less without moving substantially, the cutter bar
[0068] [0068] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a locking collar or sleeve 402 positioned around the firing member 220, where the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the hinge actuator 230 to the firing member 220, and a disengaged position, where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 distally and, correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The mouthpiece 201 can be employed to operationally engage and disengage the articulation drive system with the trigger drive system in the various ways described in US Patent Application Publication No. 2014/0263541.
[0069] [0069] The interchangeable drive shaft assembly 200 may comprise a slip ring assembly 600 that can be configured to conduct electrical energy to and / or to the end actuator 300 and / or communicate signals from and / or to the actuator end 300, for example.
[0070] The interchangeable drive shaft assembly 200 may include a proximal portion that is securely mounted to the handle assembly 14 and a distal portion that is rotatable about a longitudinal geometric axis. The distal swivel portion of the drive shaft can be rotated with respect to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the distal rotary drive shaft portion.
[0071] [0071] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. Openings 199 can be defined in elongated channel 302 to receive pins 152 extending from the anvil 306 to enable the anvil 306 to rotate from an open position to a closed position in relation to the elongated channel 302 and the surgical staple cartridge 304. A firing bar 172 is configured to move longitudinally into the end actuator 300. A firing bar 172 may be constructed from a solid section or may include a laminated material comprising a stack of steel plates. The firing bar 172 comprises an i-profile beam 178 and a cutting edge 182 at a distal end thereof. A distal projecting end of the firing bar 172 can be attached to the i-profile beam 178 to assist in spacing the anvil 306 from a surgical staple cartridge 304 positioned in the elongated channel 302, when the anvil 306 is in a closed position. The i-beam beam 178 may include a sharp cutting edge 182 for cutting fabric, as the i-beam beam 178 is advanced distally by the firing bar 172. In operation, the i-beam beam 178 can fire, or fires, the staple cartridge 304. The staple cartridge 304 may include a molded cartridge body 194 that holds a plurality of staples 191 that rest on the staple actuators 192 within the respective staple cavities open up 195 A wedge slider 190 is driven distally by the i-profile beam 178, sliding over a cartridge tray 196 of the surgical staple cartridge 304. The wedge slide 190 moves the staple actuators 192 upwards by cam. expelling the clamps 191 in deformation contact with the anvil 306, while a cutting surface 182 of the i-profile beam 178 separates the clamped fabric.
[0072] [0072] The beam with i-profile 178 may include upper pins 180 that engage the anvil 306 during firing. The i-profile beam 178 may include intermediate pins 184 and a base 186 for engaging portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the i-beam beam 178 can slide through the slots longitudinal lines 193, 197 and 189, in which, as shown in Figure 4, the base 186 of the i-beam beam 178 can engage with a groove positioned along the lower surface of the elongated channel 302 along the length of the slot 189, the middle pins 184 can engage the upper surfaces of the cartridge tray 196 along the length of the longitudinal slot 197, and the upper pins 180 can engage with the anvil 306. Under these circumstances, the beam with i-profile 178 can space or limit the relative movement between the anvil 306 and the surgical staple cartridge 304, while the firing bar 172 is moved distally in order to fire the staples from the surgical staple cartridge 304 and / or make an incision in the tissue captured between the anvil 306 and the surgical staple cartridge 304. The firing bar 172 and the i-profile beam 178 can be retracted proximally allowing the anvil 306 to be opened to release the two stapled and separated tissue portions.
[0073] [0073] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1, which comprises two drawing sheets, in accordance with an aspect of the present description. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In various ways, the motor 714 can be a brushed DC DC motor, having a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field-effect transistors ("FETs" - field-effect transistors) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle assembly 200 to supply control power to the surgical instrument 10. The supply set 706 may comprise a battery that may include several battery cells connected in series,
[0074] [0074] The drive shaft assembly 704 may include a drive shaft controller 722 that can communicate with the safety controller and the power management controller 716 through an interface, while the drive shaft assembly 704 and the supply set 706 are coupled to the handle assembly 702. For example, the interface may comprise a first portion of interface 725, which may include one or more electrical connectors for coupling engagement with electrical driveshaft assembly connectors corresponding, and a second interface portion 727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply set, to enable electrical communication between the controller of the drive shaft assembly 722 and the controller management system 716 while the drive shaft assembly 704 and the power assembly 706 are coupled to the handle assembly 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the fixed interchangeable drive shaft assembly 704 to the power management controller
[0075] [0075] 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 resident in the assembly handle grip 702, for example. In other cases, the interface can facilitate a direct communication line between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the drive assembly 706 are coupled to the handle assembly 702.
[0076] [0076] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex from Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB serial random access memory ("SRAM"), an internal read-only memory ("ROM" - read-only memory) loaded with the StellarisWare® program, electrically erasable programmable read-only memory ("EEPROM" - 2 KB), one or more pulse width modulation modules (" PWM "- pulse width modulation), one or more analogs of quadrature encoder inputs (" QEI "- quadrature encoder inputs), one or more 12-bit analog-to-digital converters (" ADC "- analog-to-digital converters) with 12 analog input channels a, details of which are available on the product data sheet.
[0077] [0077] The safety controller can be a safety controller platform that comprises two families based on controllers, such as TMS570 and RM4x known under the trade name of Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity and memory options.
[0078] [0078] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit can be configured to modulate the battery power output based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control the power modulator 738 from the power output of the power supply 706, and the current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 on the battery power output, so the 716 power management controller can adjust the output power supply unit 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0079] [0079] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, a monitor with an LCD screen, LED indicators), auditory feedback devices (for example, a speaker, a bell) or tactile feedback devices ( eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can, in instead, be integrated into the supply set 706. In these circumstances, communication between the output device 742 and the drive shaft assembly controller 722 can be done through the interface, while the drive shaft assembly 704 is coupled to the handle set 702.
[0080] [0080] The control circuit 700 comprises segments configured to control the operations of the energized surgical instrument 10. A segment of the safety controller (Segment
[0081] [0081] The acceleration segment (Segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The accelerometer input is used to transition to and from a suspend mode, identify the orientation of the energized surgical instrument and / or identify when the surgical instrument was dropped. In some examples, the acceleration segment is coupled to the safety controller and / or the main controller 717.
[0082] [0082] The screen segment (Segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the main controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the display may be integrated with the display and / or may be located separately from the display. The screen may comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal screen (LCD) and / or any other suitable screen. In some examples, the screen segment is coupled to the security processor.
[0083] [0083] The drive shaft segment (Segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument 10 (Figures 1 to 4) and / or one or more controls for a end actuator 300 coupled to the interchangeable drive shaft 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microcontroller with ferroelectric random access memory ("FRAM" - ferroelectric random access memory), an articulation switch, a drive shaft release Hall switch and a PCBA EEPROM . The PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or integral with the surgical instrument 10. In some instances, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters and / or other data that correspond to one or more sets of drive axes 200 and / or end actuators 300 that can interface with the energized surgical instrument
[0084] [0084] The position encoding segment (Segment 6) comprises one or more rotary magnetic angle position encoders. The one or more rotary magnetic angle position encoders are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some examples, rotary magnetic angle position encoders can be coupled to the safety controller and / or the main controller
[0085] [0085] The motor circuit segment (Segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the primary microcontroller processor 717 by an H bridge driver that comprises one or more H bridge field effect transistors (FETs). The H bridge actuator is also coupled to the safety controller. A motor current sensor is connected in series to the motor to measure the current drain of the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety controller. In some instances, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0086] [0086] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of motor 714 to main controller 717. Main controller 717 provides a high pulse width modulation (PWM) signal ), a low PWM signal, a direction signal, a synchronization signal and a motor restart signal to the motor controller via a buffer. The supply segment is configured to supply a segment voltage to each of the circuit segments.
[0087] [0087] The power segment (Segment 8) comprises a battery coupled to the safety controller, 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 segments of the circuit. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise to a predetermined amount, such as , for example, up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0088] [0088] The plurality of keys is coupled to the safety controller and / or the main controller 717. The keys can be configured to control operations of the surgical instrument 10
[0089] [0089] Any suitable mechanical, electromechanical or solid state switches can be employed to implement the plurality of switches in any combination. For example, the keys can be limited keys operated by the movement of the components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, passage, positioning and end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive devices ("GMR" - giant magneto-resistive), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid state devices, such as transistors (for example, FET, junction FET, metal oxide semiconductor FET ("MOSFET" - metal-oxide semiconductor-FET), bipolar and the like). Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0090] [0090] Figure 6 is a block diagram of the control circuit 700 of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the drive shaft assembly interchangeable 704, in accordance with an aspect of the present description. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power management circuit. power 734 which can comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the battery power output 707 based on the power requirements of the interchangeable drive shaft assembly 704, while the interchangeable drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the control power output together with power supply 706 and current sensor circuit 736 can be employed to monitor the power output of power supply 706 to provide feedback to the power management controller 716 about the power output of battery 707 so that the power management controller power 716 can adjust the power output of the power supply 706 to maintain a desired output.
[0091] [0091] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), audio feedback devices (for example, a speaker, a bell) or tactile feedback devices (for example, haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 may provide feedback to a user of the surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. Output device 742 can be integrated with the supply set 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be made through interface 725 while the interchangeable drive shaft assembly 704 is coupled to the handle assembly 702. Having A control circuit 700 (Figures 5A and 5B and 6) has been described to control the operation of the surgical instrument 10 (Figures 1 to 4 ), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 4) and the control circuit 700.
[0092] [0092] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. Control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. Memory circuit 804 stores instructions executable on a machine that, when executed by the processor 802, cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of a number of single-core or multi-core (multi-core) processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from memory circuit 804.
[0093] [0093] 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.
[0094] [0094] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement various processes described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock
[0095] [0095] Aspects can be implemented in the form of an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for carrying out various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, a flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application specific processor.
[0096] [0096] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises an arrangement of the motor-controlled drive circuit comprising an arrangement of the sensor 1102, in accordance with an aspect of the present description. The sensor arrangement 1102 of an absolute positioning system 1100 provides a unique position signal that corresponds to the location of a displacement member
[0097] [0097] The electric motor 1120 may include a rotary drive shaft 1116, which interfaces operationally with a gear set 1114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be 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
[0098] [0098] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement of d1 of the displacement member 1111, where d1 is the longitudinal linear distance by which the displacement member 1111 moves from the point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction which results in the completion of one or more revolutions by the position sensor 1112 of the full travel of the travel member 1111. The position sensor 1112 can complete multiple revolutions of the full travel of the travel member 1111.
[0099] [0099] 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 linear displacement d1 + d2 +… dn of the drive member 1111. The position sensor output 1124 1112 is provided to controller 1104. Position sensor 1112 of sensor arrangement 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or an array of analog Hall effect elements, which emit a unique combination of position of signs or values.
[00100] [00100] The absolute positioning system 1100 provides absolute positioning of the displacement member 1111 by energizing the instrument without having to retract or advance the displacement member 1111 to a reset position (zero or initial), as may be required by conventional rotary encoders that merely count the number of progressive or regressive steps that the 1120 motor has traveled to infer the position of a device actuator, a drive bar, knife, and the like.
[00101] [00101] Controller 1104 can be programmed to perform various functions, such as precise control of the speed and position of the articulation and cutting systems. In one aspect, controller 1104 includes a processor 1108 and memory 1106. Electric motor 1120 may be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut system. In one aspect, an 1110 motor driver can be an A3941 available from Allegro Microsystems, Inc. Other motor drivers can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the 1100 absolute positioning system is described in US patent application 15 / 130,590 entitled SYSTEMS AND METHODS FOR
[00102] [00102] Controller 1104 can be programmed to provide precise control of the speed and position of displacement member 1111 and articulation systems. Controller 1104 can be configured to compute a response in the software of controller 1104. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[00103] [00103] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, status feedback and adaptive controller. An 1129 power supply converts the signal from the feedback controller to a physical input to the system, in this case, the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a digital data capture system where the output of the 1100 absolute positioning system will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger 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 what the states and exits of the physical system will be, knowing the input. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[00104] [00104] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with externally powered metal oxide semiconductor (MOSFET) field effect transistors. channel N, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, provides full port activation (> 10 V) for batteries with voltage up to 7 V and allows the
[00105] [00105] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor arrangement 1102, the description now turns to Figures 11 and 12 for a description of an aspect of a sensor arrangement 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of sensor arrangement 1102 for absolute positioning system 1100, showing a circuit 1205 and the relative alignment of elements of sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 of an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111 and a set of gears 1206 to provide gear reduction. With brief reference to Figure 2, the drive member 1111 can represent the longitudinally movable drive member 120 which comprises a rack of drive teeth 122 for engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to the Figure 11, a structural element, such as a bracket 1216, is provided to support gear set 1206, magnet holder 1204 and magnet 1202. Position sensor 1200 comprises magnetic sensing elements, such as Hall elements, and is positioned next to magnet 1202. As magnet 1202 rotates, the magnetic sensing elements of position sensor 1200 determine the absolute angular position of magnet 1202 during a revolution.
[00106] [00106] The sensor array 1102 can comprise any number of magnetic detection elements, such as, for example, magnetic sensors classified according to whether they can measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flow meter, saturated flow, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00107] [00107] A gear set comprises a first gear 1208 and a second gear 1210 in gear engaged to provide a connection with a gear ratio of 3: 1. A third gear 1212 rotates about a drive shaft 1214. The third gear 1212 is in engagement with the displacement member 1111 (or 120 as shown in Figure 2) and rotates in a first direction as the offset 1111 advances in a distal direction D and rotates in a second direction as displacement member 1111 retracts in a proximal direction P. second gear 1210 also rotates about drive axis 1214 and therefore rotation of the second gear 1210 around the drive shaft 1214 corresponds to the longitudinal translation of the displacement member 1111. Thus, a full stroke of the displacement member 1111, in either the distal D or proximal directions P, corresponds to three revolutions of the second gear 1210 and a single rotation of the first gear 1208. Since the magnet holder 1204 is coupled to the first gear 1208, the magnet holder 1204 rotates with each stroke complete displacement member 1111.
[00108] [00108] The position sensor 1200 is supported by a position sensor holder 1218, defining an opening 1220 suitable to hold the position sensor 1200 in precise alignment with a magnet 1202 rotating inside the magnet holder 1204. The accessory is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with the magnet holder
[00109] [00109] Figure 12 is a diagram of a position sensor 1200 of an absolute positioning system 1100, which comprises a rotating magnetic absolute positioning system, according to an aspect of this description. The position sensor 1200 can be implemented as a rotary, magnetic, single-circuit, AS5055EQFT position sensor, available from Austria Microsystems, AG. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[00110] [00110] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described here in detail, however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electrical conductor transverse to an electric current in the conductor and a magnetic field perpendicular to the current. The Hall coefficient is defined as the ratio between the induced electric field and the product of the current density by the applied magnetic field. It is a characteristic of the material from which the conductor is made, since its value depends on the type, number and properties of the load carriers that make up the chain. In the AS5055 1200 position sensor, 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, upon powering up or demand from controller 1104.
[00111] [00111] The AS5055 1200 position sensor requires only a few external components to operate when connected to the controller
[00112] [00112] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (~ 600 µs) after each energization sequence. As soon as an angle measurement is completed, the AS5055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. 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%).
[00113] [00113] Figure 13 is a sectional view of an end actuator 2502 of the surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the beam with i-profile 2514 in relation to the fabric 2526 trapped inside the end actuator 2502 , in accordance with an aspect of the present description. The end actuator 2502 is configured to operate the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516, an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. A 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 instrument driving shaft. An i-profile beam 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar
[00114] [00114] A firing stroke of the beam with 2514 exemplary i-profile is illustrated by a graphic 2529 aligned with the end actuator 2502. The 2526 exemplifying fabric is also shown aligned with the end actuator 2502. The firing member travel can comprise an initial position of the stroke 2527 and an end position of the stroke 2528. During a firing stroke of the beam with i-profile 2514, the beam with i-profile 2514 can be advanced distally from the initial position of the stroke 2527 to the end position of stroke 2528. The beam with i-profile 2514 is shown in an example location from an initial position of stroke 2527. The 2529 stroke profile of the beam member of the i-profile beam illustrates five stroke regions of the firing member 2517, 2519, 2521, 2523, 2525. In a first firing stroke region 2517, the beam with i-profile 2514 can begin to advance distally. In the first firing stroke region 2517, the i-profile beam 2514 can come into 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 2511 clamp driver. Once static friction is breathed in, the force needed to driving the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[00115] [00115] In the second stroke region of firing member 2519, cutting edge 2509 may start to come in contact and cut the fabric
[00116] [00116] 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 firing system of the drive shaft assembly, including the I-shaped rod 2514, in relation to the end actuator 2502 of the drive shaft assembly in order to staple and / or focus the captured tissue inside the end actuator 2502. The stem with I-2514 profile can be advanced or retracted at a desired speed, or within a range of desired speeds Controller 1104 can be configured to control the speed of the I-profile rod 2514. Controller 1104 can be configured to predict the speed of the I-profile rod 2514 based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operational parameters of the 1122 electric motor o u external influences. Controller 1104 can be configured to predict the current speed of the I-shaped profile 2514 based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the I-shaped profile 2514 using the absolute positioning sensor system described here. The controller can be configured to compare the predicted speed of the I 2514 profile rod and the detected speed of the I 2514 profile rod to determine whether the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod in I 2514 and / or decreased in order to decrease the speed of the I-shaped stem
[00117] [00117] The force acting on the beam with i 2514 profile can be determined using various techniques. The force on the i-profile beam 2514 can be determined by measuring the current of the motor 2504, where the current of the motor 2504 is based on the load on the i-profile beam 2514 as it advances distally. The strength of the i-profile beam 2514 can be determined by placing a stress meter on the drive member 120 (Figure 2), the firing member 220 (Figure 2), the i-profile beam 2514 (beam with i-profile 178, Figure 20), the firing bar 172 (Figure 2) and / or at a proximal end of the cutting edge 2509. The i-profile beam 2514 can be determined by monitoring the actual position of the beam with profile in profile i 2514 moving at an expected speed based on the current set speed of the engine 2504 after a predetermined period of time T1 has elapsed and by comparing the actual position of the beam with i 2514 profile with the expected position of the beam with i 2514 profile based on the current set speed of the 2504 engine at the end of the T1 period. Thus, if the actual position of the beam with i 2514 profile is less than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is greater than a nominal force. On the other hand, if the actual position of the beam with i 2514 profile is greater than the expected position of the beam with i 2514 profile, the force on the beam with i 2514 profile is less than the nominal force. The difference between the actual and expected positions of the beam with i 2514 profile is proportional to the deviation of the force in the beam with i 2514 profile from the nominal force. These techniques are described in Attorney Document No. END8195USNP, which is hereby incorporated by reference in its entirety.
[00118] [00118] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111, such as the beam with I-profile 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a beam with i-profile 2514 (including a sharp cutting edge 2509) and a removable staple cartridge 2518. End actuator 2502, anvil 2516, i-profile beam 2514 and staple cartridge 2518 can be configured as described here , for example, in relation to Figures 1 to 13.
[00119] [00119] The position, movement, displacement and / or translation of a linear displacement member 1111, such as the beam with i-profile 2514, can be measured by the absolute positioning system 1100, the arrangement of sensor 1102 and the position sensor 1200, as shown in Figures 10 to 12 and represented as position sensor 2534 in Figure 14. As the beam with i-profile 2514 is coupled to a longitudinally movable drive member 120, the position of the beam with i-profile 2514 can be determined by measuring the position of the longitudinally movable drive member 120 using the position sensor 2534. Consequently, in the following description, the position, displacement and / or translation of the beam with i-profile 2514 can be obtained by the 2534 position sensor, as described in the present invention. The control circuit 2510, like the control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with i-profile 2514, as described in relation to Figures 10 to 12 The control circuit 2510, in some examples, may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to control the displacement member, for example, the beam with i 2514 profile , as described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate the beam position with i-profile 2514 as determined by the position sensor 2534 with the output of the timer / counter circuit 2531 so that the control circuit 2510 can determine the position of the beam with i-profile 2514 at a specific moment (t) in relation to an initial position. The timer / counter circuit 2531 can be configured to measure elapsed time, count external events or measure eternal events.
[00120] [00120] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some examples, motor 2504 may be a brushed direct current electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of motor 2504 may be proportional to the drive signal of the motor 2524. In some examples, motor 2504 may be a brushless DC electric motor and the motor 2524 drive signal may comprise a pulse width modulation (PWM) signal supplied to one or more 2504 motor stator windings In addition, in some instances, motor controller 2508 may be omitted and control circuit 2510 may generate motor drive signal 2524 directly.
[00121] [00121] The 2504 motor can receive power from a 2512 power supply. The 2512 power supply can be or include a battery, supercapacitor or any other suitable power source
[00122] [00122] The 2510 control circuit can be in communication with one or more 2538 sensors. The 2538 sensors can be positioned on the end actuator 2502 and adapted to work with the 2500 surgical instrument to measure the various derived parameters, such as span distance as a function of time, tissue compression as a function of time and anvil deformation as a function of time. The 2538 sensors can comprise, for example, a magnetic sensor, a magnetic field sensor, a stress meter, a pressure sensor, a force sensor, an inductive sensor such as a eddy current sensor, a sensor resistive, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the end actuator 2502. The 2538 sensors may include one or more sensors.
[00123] [00123] The one or more 2538 sensors may comprise a strain gauge, such as a microtension gauge, configured to measure the magnitude of the strain on the 2516 anvil during a tight condition. The effort meter provides an electrical signal whose amplitude varies with the magnitude of the effort. The 2538 sensors can comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil 2516 and the staple cartridge 2518. The 2538 sensors can be configured to detect the impedance of a section of tissue located between the anvil 2516 and the staple cartridge 2518 which is indicative of the thickness and / or completeness of the fabric located between them.
[00124] [00124] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at an interaction point between the closing tube 260 (Figure 3 ) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction throughout the closing drive system 30 (Figure 2) to detect the closing forces applied to the anvil 2516 by the closing drive system 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor, as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze time-based information and evaluate, in real time, the closing forces applied to the 2516 anvil.
[00125] [00125] A current sensor 2536 can be used to measure the current drained by the 2504 motor. The force required to advance the beam with i-profile 2514 corresponds to the current drained by the motor
[00126] [00126] Using the physical properties of the instruments described here, now with reference to Figures 1 to 14 and with reference to Figure 14, the control circuit 2510 can be configured to simulate the real system response of the instrument in the controller software.
[00127] [00127] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with i 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a joint and / or knife. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00128] [00128] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and in the attached description . The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it will be recognized that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more among the other aspects, expressions of aspects and / or examples described below.
[00129] [00129] Several exemplifying aspects are directed to a 2500 surgical instrument that comprises a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, an engine 2504 can drive a displacement member distally and proximally along a longitudinal geometry axis of end actuator 2502. End actuator 2502 may comprise a pivot anvil 2516 and, when configured for use, a staple cartridge 2518 positioned opposite the anvil 2516. A physician can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member is moved distally, an i-profile beam 2514 with a cutting element positioned at a distal end can cut the fabric between the staple cartridge 2518 and the anvil 2516.
[00130] [00130] In several examples, the surgical instrument 2500 can comprise a control circuit 2510 programmed to control the distal translation of the displacement member, such as the beam with i-profile 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 trigger control program based on tissue conditions. A trigger control program can describe the distal movement of the displacement member. Different trigger control programs can be selected to better treat different tissue conditions. For example, when a thicker tissue is present, the control circuit 2510 can be programmed to translate the displacement member at a lower speed and / or with a lower power. When a thinner tissue is present, the 2510 control circuit can be programmed to move the displacement member at a higher speed and / or with greater power.
[00131] [00131] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of the travel of the displacement member. Based on a response from the 2500 instrument during the open circuit portion of the course, the 2510 control circuit can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed 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.
[00132] [00132] Figure 15 illustrates a diagram 2580 showing two examples of displacement member courses performed according to an aspect of the present description. Diagram 2580 comprises two axes. A horizontal axis 2584 indicates elapsed time. A vertical axis 2582 indicates the position of the beam with an i-profile 2514 between an initial position of the stroke 2586 and an end position of the stroke 2588. On the horizontal axis 2584, the control circuit 2510 can receive the trigger signal and begin supplying 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.
[00133] [00133] A first example 2592 shows a response from the surgical instrument 2500 when the thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open circuit portion of the travel of the displacement member, for example, the period of initial time between t0 and t1, the beam with i-profile 2514 can traverse from the initial position of stroke 2586 to position 2594. Control circuit 2510 can determine that position 2594 corresponds to a trigger control program that advances the beam with i 2514 profile at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t1 (for example, in the closed circuit portion). The control circuit 2510 can drive the beam with i-profile 2514 to Vlenta speed by monitoring the position of the beam with i-profile 2514 and modulation of the motor setpoint 2522 and / or motor drive signal 2524 to keep Vlenta. A second example 2590 shows a response from the surgical instrument 2500 when the thin tissue is positioned between the anvil 2516 and the staple cartridge 2518.
[00134] [00134] During the initial time period (for example, the open circuit period) between t0 and t1, the beam with i-profile 2514 can traverse from the initial position of the 2586 course to position 2596. The control circuit can determine that position 2596 corresponds to a trigger control program that advances the travel member at a selected constant speed (Vrapida). As the fabric in example 2590 is thinner than the fabric in example 2592, it can provide less resistance to movement of the i-profile beam 2514. As a result, the i-profile beam 2514 can travel a greater portion of the course during the initial time period. In addition, in some instances, the thinner tissue (for example, a larger portion of the displacement member of the element travel during the initial period of time) may correspond to higher velocities of the displacement member after the initial period of time .
[00135] [00135] The description now turns to a closed loop feedback system to provide speed control for a displacement member. The closed loop feedback system adjusts the speed of the displacement member based on a real-time measurement in relation to a certain number of rotations of the drive shaft. In one aspect, the closed-loop feedback system comprises two phases. An initial phase defined as the beginning of a firing stroke followed by a dynamic firing phase while the beam with i 2514 profile advances distally during the firing stroke. Figures 16A and 16B show the beam with i 2514 profile positioned in the initial phase of the firing stroke. Figure 16A illustrates an end actuator 2502 comprising a firing member 2520 coupled to an i-beam beam 2514 comprising a cutting edge 2509. Anvil 2516 is in the closed position and the i-beam beam 2514 is located in a proximal or parked position 10002 at the bottom of the closing ramp 10006. The parked position 10002 is the position of the beam with an I-profile 2514 before moving to the closing ramp 10006 from the anvil 2516 to the top of the ramp 10006 to the slot at T 10008 after a predetermined number of revolutions of the drive shaft. An upper pin 10080 is configured to engage a T-slot 10008 and a locking pin 10082 is configured to engage a locking feature 10084.
[00136] [00136] In Figure 16B, the i-profile beam 2514 is located in a target position 10004 at the top of the ramp 10006 with the top pin 10080 engaged in the T slot 10008. As shown in Figures 14, 16A and 16B and, when moving from parked position 10002 to target position 10004, the beam with i-profile 2514 travels a distance indicated as Xo in the horizontal distal direction after a predetermined number of rotations of the drive shaft. During the initial phase, the speed of the beam with i 2514 profile is set to a predetermined initial speed of Φ revolutions per second. A control circuit 2510 measures the real time that the beam with i-profile 2514 takes to traverse the ramp 10006 from the parked position 10002 to the target position 10004 at the initial speed of φo revolutions per second. In one aspect, the horizontal distance is in the range of 5 mm to 10 mm and in an example it is 7.4 mm and the initial speed of Φo = 5 revolutions per second. As described in detail below, the real time to is used to define the command speed of the beam with i 2514 profile, in terms of rotations per second of the drive shaft, in slow, medium or fast in zone X of the staple cartridge subsequent, as the beam 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 command speed or defined speed is the speed of the motor 2504 that is applied to the motor 2504 by the control circuit 2510 and the control of the motor 2508 in order to achieve a desired speed for the beam with an i-profile 2514. In one aspect, the speed is determined based on the rotations of the 2504 motor drive shaft in terms of revolutions per second. The real speed of the i-beam beam 2514 is determined by the control circuit 2510 by measuring the real time to the timer / counter circuit 2531 which takes the i-beam beam 2514 across a fixed or specified distance provided by the sensor of position 2534 based on a defined rotation range assuming, in one example, 60 threads per inch. According to one aspect of the present description, the closed loop feedback system of the surgical instrument measures the real time tn that takes the beam with i 2514 profile, or a displacement member, to travel a predetermined fixed distance or a rotation interval Xn after a set of predetermined rotation interval of the motor drive shaft assuming 60 wires per inch. A predetermined fixed distance or rotation interval Xn is defined for each zone (for example, Z1, Z2, Z3 ... Zn).
[00137] [00137] Figure 17 illustrates a 10470 thread drive system that can be used with surgical instrument 10 (Figure 1), in accordance with an aspect of the present description. In one aspect, the longitudinally movable drive member 120 (Figure 2) can be replaced by the screw drive 10470 (sometimes called the nut drive system). The 10470 thread drive system comprises a lead screw
[00138] [00138] The thread drive system 10470 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 motor 82 by means of drive gear 10478 to translate the rotational movement of the drive shaft 10474 of the motor 82 in linear movement of the displacement member, such as the beam with i-profile 2514, for example, which is coupled to the nut 10476. The threads of the lead 10472 are in sliding contact with their counterparts inside nut 10476 so that lead screw 10472 rotates nut 10476, moved back and forth, according to the rotation of drive gear 10478 as indicated. A ball screw can also be used for low friction application. In a ball screw, a threaded drive shaft provides a helical raceway for ball bearings that act as a precision screw. In addition to being able to apply or withstand high propulsion loads, they can do so with minimal internal friction. Close tolerances make them suitable for use in high precision applications. The ball assembly acts as a nut while the threaded drive shaft is the screw. The 10470 screw drive system, like lead screw 10472 and nut 10476 or ball screw drive, can include a threaded drive shaft that has 60 threads per inch so that a 60 mm staple cartridge can be traversed in approximately 142 rotations of the motor shaft. For example, a rotation of the threaded drive shaft of lead screw 10472 advances 1 inch (25.4 mm) the nut 10476 and the displacement member. A 60 mm cartridge is 2.36 centimeters long and needs ~ 142 revolutions of the 10472 lead screw to advance the 10476 nut and the travel member over the entire 60 mm stroke if there is a 1: 1 ratio between the drive shaft rotation 10474 and lead screw rotation 10472. Other reasons using gear reduction assemblies can be adapted without limitation. The rotation of the 10474 drive shaft can be measured by a position sensor arrangement comprising one or more magnets and one or more Hall effect sensors to measure the rotation of the 104747 drive shaft and supply the axis rotation signals to the circuit of control.
[00139] [00139] In one aspect, with reference to Figure 17 and also to Figures 2 to 4 and 10 to 12, the rotations of the drive shaft 10474 of the motor 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 position sensor 1200 (Figures 11, 12). With reference to Figure 12, the position sensor 1200 of 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
[00140] [00140] Turning now to Figure 18, a firing stroke of the beam with i 2514 profile is illustrated as a 9009 graph aligned with the end actuator 2502, according to one aspect of this description. As shown, the initial zone (Zo), or base zone, is defined as the distance traveled by the beam with i-profile 2514 from the parked position 10002 to the target position 10004. The time measure To is the time that the beam with profile in i 2514 it takes to move through the closing ramp 10006 to the target position 10004 at an initial defined speed of Φo revolutions / second. The measured times T1 to T5 are reference periods of time to cross the corresponding zones Z1 to Z5, respectively. The displacement of the beam with i 2514 profile in the Zo zone is Θo rotations. The To period, the time that the beam with i 2514 profile takes to travel a distance Θ o, is used to set the control speed in the subsequent Z1.
[00141] [00141] Now with reference to Figures 14 to 18, in the initial phase, for example, at the beginning of a firing stroke, the control circuit 2510 is configured to start firing the displacement member, such as the beam with an i-profile 2514, at a predetermined speed Φo (for example, 5 revolutions / second). During the initial phase, the control circuit 2510 is configured to monitor the position of the i-profile beam 2514 and measure the time to (s) that the i-profile beam 2514 takes to move from the parked position 10002 of the beam with i-profile 2514 to target position 10004 of the i-profile beam 2514, up to the closing ramp 10006 from the top of the anvil 2516 or at the end of a low-power operating mode. The time to in the initial zone 10010 is used by the control circuit 2510 to determine the firing speed of the beam with i-profile 2514 through the first zone Z1. For example, in one aspect, if the time to is <0.9 s, speed Φ1 can be set to fast, and if time to ≥ 0.9 speed a1 can be set to average. Faster or slower times can be selected based on the length of the staple cartridge 2518. The actual time t1 to t5 that the beam with i-profile 2514 takes to traverse a corresponding zone Z1 to Z5 is measured at a defined rotation displacement corresponding δ1 to δ5 and is compared to a corresponding reference time period T1 to T5. In several respects, if a locking condition is found, engine 2504 stops before the beam with i-profile 2514 reaches target position 10004. When this condition occurs, the surgical instrument screen indicates the status of the instrument and can emit a stop warning. The screen can also indicate a speed selection.
[00142] [00142] During the dynamic firing phase, the surgical instrument enters the dynamic firing phase, in which the control circuit 2510 is configured to monitor the rotation interval δn of the beam with i-profile 2514 and measures the time tn that the beam with i 2514 profile leads to move 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 17, the reference time T1 is the time it takes for the beam with i 2514 profile to travel from the beginning of zone Z1 to the end of zone Z1 at a defined speed Φ1. Likewise, Reference time T2 is the time it takes the beam with i 2514 profile to travel from the beginning of zone Z2 to the end of zone Z2 at a defined speed Φ2, and so on. Table 1 shows the zones that can be defined for 2518 staple cartridges of various sizes.
[00143] [00143] For 2518 staple cartridges over 60 mm, the pattern continues, but the last 10 to 15 mm remain at a command or speed indicated from the previous zone pending further interventions for the end of the course, among others. At the end of each zone, the real time tn that the i 2514 beam took to traverse the zone is compared to the values in other tables (for example, Tables 2 to 5 below) to determine how to set 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-beam beam 2514 returns to the initial parked position 10002 of the i-beam beam at rapid speed. The end of the return stroke (returning to the parked position 10002) is treated according to the protocol / algorithm of the surgical instrument. Other zones can be defined without limitation.
[00144] [00144] 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 command speed of the beam with an i-profile 2514 in each zone with based on the values stored in the LUT.
[00145] [00145] Figure 19 is a graphical representation 10100 comparing the rotation interval of the δn course of the beam with i-profile 2514 as a function of time 10102 (upper graph) and the expected force to fire the beam with i-profile 2514 as a function 10104 (bottom graph) according to one aspect of the present description. With reference to the upper graph 10102, the horizontal geometric axis 10106 represents the time (t) in seconds (s) from 0 to 1.00 X, where X is a scale factor. For example, in one aspect, X = 6 and the horizontal geometric axis 10106 represents the time from 0 to 6 seconds. The vertical geometric axis 10108 represents the displacement (δ) of the beam with i-profile 2514 in millimeters (mm). The rotation range δ 1 represents the course 10114 of the beam with i 2615 profile or the displacement at the top of the ramp 10006 (Figures 16A, 16B) for the thin fabric and the medium thick fabric. The time for the i-beam beam 2514 to reach the top of the ramp 10114 stroke of the thin fabric is t1 and the time for the i-beam beam 2514 to reach the top of the ramp 10114 travel in the medium thick fabric is t2. As shown, t1 <t2, so that it takes less time for the i-profile beam 2514 to reach the top of the ramp 10114 course in thin than in medium or thick fabric. In one example, the rotation range δ1 from the top 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 the time t2 is greater than 0.9 s but less than 1.8 s (0.9 <t2 <1.8 s). Consequently, also with reference to Table 5, the speed to reach the top of the 10114 ramp course is fast in the thin fabric and medium in the medium thick fabric.
[00146] [00146] Now with reference to the lower graph 10104, the horizontal axis 10110 represents time (t) in seconds (s) and has the same scale as the horizontal geometric axis 10106 of the top graph
[00147] [00147] Figure 20 is a graphical representation 10200 comparing the thickness of the fabric as a function of the defined rotation range of the beam travel with i2020 profile (upper graph), the firing force as a function of the defined rotation range of the beam with profile in i 10204 (second graph from top to bottom), dynamic time checks as a function of the defined speed range of the beam travel with profile in i 10206 (third graph from top to bottom) and the defined speed of the beam with i-profile as a function of the defined speed range of the beam travel with i-profile 10208 (bottom graph), according to one aspect of this description. The horizontal geometric axis 10210 for each of the graphs 10202, 10204, 10206, 10208 represents the defined rotation range of the motor drive axis 2504 for a 60 mm clamp cartridge, for example. The speed of the motor drive shaft 2504 corresponds to a displacement of the displacement member, such as the beam with i 2514 profile, for example. In one example, a 60 mm cartridge 2518 can be traversed by the i-profile beam 2514 at about 142 rotations of the 2504 motor drive shaft with a 60 threaded screw driver per inch. Also with reference 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, defined zones can be marked for staple cartridges of various sizes. The 10210 horizontal axis is marked from 0 to 142 revolutions for a 60 mm cartridge and a lead screw driver of 60 threads per inch. With reference also to Figure 14, according to the present description, the control circuit 2510 takes samples or measures the elapsed time of the timer / counter circuit 2531 for various rotation intervals of the motor drive shaft 2504 corresponding to the displacement of the beam with i-profile 2514 that passes through the staple cartridge 2518 during the firing stroke. At defined rotation intervals δn, 12 revolutions, 23 revolutions or another suitable number of revolutions of the drive shaft, for example, received from the position sensor 2534, the control circuit 2510 takes samples or measures the elapsed time tn taken by the beam with i 2514 profile to travel a distance corresponding to the fixed rotation intervals δn. For example, a lead screw with 60 threads per inch corresponds to 0.42 mm per revolution. Thus, 12 rotations of the 2504 motor drive shaft correspond to a linear displacement of 5.04 mm (~ 5 mm) and 23 rotations of the 2504 motor drive shaft correspond to a displacement of 9.66 mm (~ 10 mm), for example. In this way, the control circuit 2510 can determine the actual speed of the beam with i 2514 profile and compare the actual speed to the estimated speed and make the necessary adjustments to the speed of the 2504 motor.
[00148] [00148] The tissue thickness chart 10202 shows a profile of tissue thickness 10220 along the staple cartridge 2518 and an indicated thickness 10221, as shown by the horizontal dashed line. The trigger force graph 10204 shows the profile of the trigger force 10228 along the staple cartridge 2518. The trigger force 10230 remains relatively constant while the thickness of the fabric 10222 remains below the indicated thickness 10221, as the beam with i 2514 profile crosses zones Z1 and Z2. As the beam with i-profile 2514 enters zone Z 3, the thickness of the fabric 10224 increases and the firing force also increases, while the beam with i-profile 2514 passes through the thicker fabric in zones Z3, Z4 and Z5 . As the i-profile beam 2514 leaves Z5 and enters zone Z6, the thickness of the fabric 10226 decreases and the firing force 10234 also decreases.
[00149] [00149] Now with reference to Figures 14, 16 to 20 and Tables 2 and 3, the speed and Φ1 in zone Z1 is defined as the command speed Φo in revolutions per second, determined by the control circuit 2510 in zone Z0, which is based on the time it takes the beam with i 2514 profile to reach the top of the ramp 10006 in zone Z o, as discussed with reference to Figures 16A, 16B and 18. With reference also to the graphics 10206, 10208 in Figure 19 , the initial set speed Φ0 has been set to average and thus the set speed Φ1 in zone Z1 is set to Medium, so that Φ1 = Φ0.
[00150] [00150] In the defined 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 beam with i 2514 profile leaves zone Z1 and enters zone Z2, control circuit 2510 measures the real time t1 that the beam with i-profile 2514 takes to cover a defined distance during the rotation interval Θ 1 (12 revolutions, 5.04 mm) and determines the real speed of the beam with i 2514 profile. Referring to graphs 10206 and 10208 in Figure 19, at the defined rotation position δ1, the real time t1 that a beam with i 2514 profile takes to travel a defined distance during the defined speed range Θ1 is t1 = 0.55 s. According to Table 3, a real travel time t1 = 0.55 s in zone Z1 requires a command or defined speed Φ2 in zone Z2 defined as Average. Consequently, the 2510 control circuit does not reset the command speed for zone Z2 and keeps it at Average.
[00151] [00151] At the defined 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 beam with i 2514 profile leaves zone Z2 and enters zone Z3, control circuit 2510 measures the real time t2 that the beam with profile in i 2514 takes to travel a defined distance during the rotation interval Θ2 (23 revolutions, 9.66 mm) and determines the actual speed of the beam with i 2514 profile. Referring to graphs 10606 and 10608 in Figure 19, at the defined rotation position δ2, the real time t2 that a beam with i 2514 profile takes to travel a defined distance during the interval defined rotation speed Θ2 is t2 = 0.95 s. According to Table 3, a real travel time t2 = 0.95 s in zone Z2 requires a command or defined speed Φ3 in zone Z3 defined as Average. Consequently, the 2510 control circuit does not reset the command speed for zone Z3 and keeps it at Average.
[00152] [00152] In the defined 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 beam with i 2514 profile leaves zone Z3 and enters zone Z4, control circuit 2510 measures the real time t3 that the beam with i-profile 2514 takes to cover a defined distance during the rotation interval Θ 3 (23 revolutions, 9.66 mm) and determines the real speed of the beam with i 2514 profile. Referring to graphs 10606 and 10608 in Figure 19, at the defined rotation position δ3, the real time t3 that the beam with i 2514 profile takes to travel a defined distance during the defined rotation interval Θ3 is t3 = 1.30 s. According to Table 3, an actual travel time t3 = 1.30 s in zone Z3 requires a command or defined speed Φ4 in zone Z4 defined as 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 control circuit 2510 determines that the real speed of the beam with i-profile 2514 in zone Z3 was slower than expected due to external influences,
[00153] [00153] In one aspect, the 2510 control circuit can be configured to disable speed reset in a zone after a zone in which the speed has been reset. In other words, whenever the speed is updated in a current zone, the subsequent zone will not be evaluated. Once the speed has been updated in zone Z4, the time it takes the beam with i 2514 profile to traverse zone Z4 will not be measured at the end of zone Z4 at the defined 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 will be resumed at the defined rotation position δ5 (for example, 106 revolutions [44.52 mm] for a 60 mm staple cartridge and screw feed rate of 60 threads per inch).
[00154] [00154] In the defined 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 beam with i 2514 profile leaves zone Z5 and enters zone Z6, control circuit 2510 measures the real time t5 that the beam with i-profile 2514 takes to travel a defined distance during the rotation interval Θ5 (23 revolutions, 9.75 mm) and determines the actual speed of the beam with i 2514 profile. Referring to graphs 10606 and 10608 in Figure 19, at the defined rotation position δ5, the real time t5 that a beam with i 2514 profile takes to travel a defined distance during the interval defined rotation speed Θ5 is t5 = 0.95 s. According to Table 3, an actual travel time t5 = 0.95 s in zone Z5 requires a command or defined speed Φ6 in zone Z6 defined as High. This is due to the fact that the actual travel time of 0.95 s is greater than 1.00 s and is outside the previous range. Consequently, the control circuit 2510 determines that the actual speed of the beam with a profile at speed i 2514 in zone Z5 was faster than expected due to external influences, such as thinner fabric than expected, as shown in the fabric region. 10626 in graphic 10602. Consequently, control circuit 2510 resets the control speed Φ6 in zone Z6 from Slow to High.
[00155] [00155] Figure 21 is a graphical representation 10300 of the firing force as a function of time comparing the speeds of slow, medium and fast displacement of the beam with i 2514 profile, according to an aspect of the present description. The horizontal geometry axis 10302 represents the time t (s) that an i-profile beam takes to pass through a staple cartridge. The vertical geometric axis 10304 represents the firing force F (N). The graphical representation shows three firing force curves separated as a function of time. A first firing force curve 10312 represents a beam with an i-profile 2514 (Figure 14) traversing the thin fabric 10306 at a rapid speed and reaching a maximum firing force F 1 at the top of the ramp 10006 (Figure 16B) at t1. In one example, a fast traverse speed of the beam with i 2514 profile is ~ 30 mm / s (~ 71 revolutions / s). A second firing force curve 10314 represents a beam with an i-profile 2514 traversing the average fabric 10308 at an average speed and reaching a maximum firing force F2 at the top of the ramp 10006 at t2, which is greater than t1. In one example, the average traversed speed of the beam with i 2514 profile is ~ 12 mm / s (~ 29 revolutions / s). A third firing force curve 10316 represents an i-profile beam 2514 traversing the thick fabric 10310 at a slow speed and reaching a maximum firing force F3 at the top of the 9006 ramp at t3 which is greater than t1. In one example, a slow traverse speed of the beam with i 2514 profile is ~ 9 mm / s (~ 21 revolutions / s).
[00156] [00156] Figure 22 is a logic flow diagram of a 10400 process that represents a control program or a logical configuration for controlling the command speed at an initial trigger stage, according to an aspect of the present description. With reference also to Figures 14 and 16 to 20, the control circuit 2510 determines 10402 the reference position of the displacement member, such as the beam with i-profile 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 discussed earlier, a lead screw having 60 threads per inch advances the travel member by 0.42 mm per rotation of the drive shaft. Position information based on drive shaft rotation information is provided by the position sensor 2534. In the example of the beam with i-profile 2514, the reference position is the proximal or parked position 10002 at the bottom of the closing ramp 10006 as shown in Figure 16B. After the reference position is determined 10402, control circuit 2510 and motor control 2508 set the control speed of motor 2504 to a predetermined speed control speed Φo and initiate 10404 the trip of the travel member (for example, the beam with i-profile 2514) at the predetermined control speed Φ0 of the initial or base zone Z0. In one example, the predetermined initial command speed Φo is ~ 12 mm / s (29 revolutions / s), however, another predetermined initial speed Φ0 can be used. Control circuit 2510 monitors 10406 drive shaft rotation information received from position sensor 2534 until the i-profile beam 2514 reaches a target position at the top of the 10006 ramp, as shown in Figure 16B. The period of the predetermined rotation interval To is the expected period in which the displacement member will take to travel a predetermined distance while traveling at the current defined command speed Φ0. The deviation between the actual rotation period Tn and the predetermined rotation period To is due at least in part to external influences that act on the displacement member, such as the thickness of the fabric acting on the cutting edge 2509 of the beam with an i-profile 2514.
[00157] [00157] 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 t0 that the travel member takes to travel from reference position 10002 to target position 10004 after a specific number of revolutions of the drive shaft (for example, 12 or 24 revolutions). Control circuit 210 defines 10410 the control speed Φ1 of the first zone Z1 based on the measured time t0. As shown in Table 1, several defined zones can be defined for staple cartridges of various sizes. Other zones, however, can be defined. Control circuit 2510 defines 10410 the control speed Φ1 for the first zone Z1 by comparing 9412 the time t0 measured to the values stored in memory, such as, for example, stored in a query table (LUT). In an example, as indicated in Table 4, in general, and in Table 5 by way of a specific example, if the time t 0 the beam with profile in i 2514 takes to rise the ramp 10006 from the reference position 10002 until the target position 10004 at 5 revolutions / s is at least 0.9 s (to <0.9 s), so the control speed for the first zone Z1 is set to 10414 as FAST (for example, 30 mm / s, 71 revolutions / s). Otherwise, if the time t0 (seconds) that the beam with i-profile 2514 takes to rise 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 ≥ 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, control circuit 2510 checks 10418 for a crash and stops 10420 motor 2504 if a crash condition exists. Otherwise, the control circuit enters 10422 into the dynamic trip phase, as described below in reference to process 10450 in Figure 22.
[00158] [00158] Figure 23 is a logic flow diagram 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. With reference also to Figures 14 and 16 to 20, the control circuit 2510 defines 10452 the initial command speed of the motor 2504 in revolutions per second for the first zone Z1 based on the initial time to, as described in relation to process 10400 in Figure 21. As the travel member passes through the staple cartridge 2518, control circuit 2510 receives axis information from the 2534 position sensor and timing information and the timer / counter circuit 2531 and monitors 10454 o number of rotations of the drive shaft representing 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 actual tn time 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 rotations of the drive shaft and compares 10458 the actual time tn to a predetermined time period for a specific zone, as shown in general in Table 2 and by way of a specific example in Table 3. The predetermined rotation period Tn is the expected rotation period of the member of displacement that moves at the current set command speed Φn revolutions / s. The deviation between the actual rotation period Tn and the predetermined rotation period To is due at least in part to external influences that act on the displacement member, such as the thickness of the fabric acting on the cutting edge 2509 of the beam with an i-profile 2514.
[00159] [00159] For example, with reference to Table 3, the time to traverse 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 command speed of the next zone Z2 is defined as FAST; if 0.5 <tn <0.6 s, the control speed of the next zone Z 2 is defined as AVERAGE; and if tn> 0.6 s, the control speed of the next zone Z2 is defined as SLOW.
[00160] [00160] 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 speed command of the next zone Z2 is defined as FAST; if 0.9 <tn <1.1 s, the control speed of the next zone Z3 to Z5 is defined as AVERAGE; and if tn> 1.1 s, the control speed of the next zone Z3 to Z5 is defined as SLOW.
[00161] [00161] Finally, if the dynamic firing zone is the last measured zone Z5 (24 revolutions) and tn <1.0 s, the control speed of the final zone Z6 is defined as FAST; if 1.0 <tn <1.3 s, the control speed of the final zone Z6 is defined as AVERAGE; and if tn> 1.3 s, the control speed of the end zone Z6 is defined as SLOW. Other parameters can be used not only to define the dynamic firing zones but also to define the time to traverse a zone at a specific command speed for several dynamic firing zones.
[00162] [00162] 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 real speed (FAST, MEDIUM, SLOW) in the previous zone Zn is equal at the previous command speed V1 (FAST, MEDIUM, SLOW), the control circuit 2510 maintains 10460 the command speed of the next Zn + 1 zone 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 Zn + 1. At the end of the next Zn + 1 zone, control circuit 2510 measures 10456 the time tn + 1 that the displacement member took to travel a distance from the beginning of the next Zn + 1 zone to the end of the next Zn1 zone during the predetermined number of rotations of the drive shaft and compare 10458 the actual time tn + 1 to a predetermined period of time for a specific zone, as shown in general in Table 2 and as a specific example in Table 3. If there are no changes required at the control speed, process 10450 up to the number of revolutions indicates that the displacement member, for example, the beam with i-shaped profile 2514, has reached the end of travel 10466 and the displacement member 10468 returns to the reference position 10002.
[00163] [00163] If the results of comparison 10458 indicate that the actual speed (FAST, AVERAGE, SLOW) in the previous zone Zn is equal to the previous command speed Φ1 (FAST, AVERAGE, SLOW), the 2510 control circuit resets 10462 or updates the command speed of the next Zn + 1 zone according to the algorithm summarized in Tables 2 and 3. If the command speed is reset 10462 or updated to Φnova, the 2510 control circuit keeps 10464 the Φnova command speed during a 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 continues to monitor 10454 the number of rotations of the drive shaft representative of the position of the displacement member in relation to the next predefined zone Zn + 1 until the number of revolutions indicates that the displacement member, for example, the profile beam in i 2514, it reached the end of the course 10466 and the displacement member 10468 returns to the reference position 10002.
[00164] [00164] The functions or processes 10400, 10450 described herein can be performed by any of the processing circuits described here, such as the control circuit 700 described in relation to Figures 5 and 6, circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described in relation to Figures 10 and 12 and / or the control circuit 2510 described in Figure 14.
[00165] [00165] Aspects of the motorized surgical instrument can be practiced without the specific details described here. 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 a self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities that can take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and handled 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.
[00166] [00166] In general, the aspects described here, which can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or any combination of these, can be seen as being composed of several types of "electrical circuits". Consequently, the term "electrical circuit" includes electrical circuits that have at least one isolated 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 configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs processes and / or devices described herein, electrical circuits that form a memory device (for example, forms of random access memory) and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment) .These aspects can be implemented in analog or digital form or combinations thereof.
[00167] [00167] The previous description presented aspects of devices and / or processes through the use of block diagrams, flowcharts and / or examples, which may contain one or more functions and / or operation. Each function and / or operation within such block diagrams, flowcharts or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware or virtually any combination of them. In one aspect, several portions of the subject described here can be implemented using application specific integrated circuits ("ASIC"), field programmable gate arrays ("FPGA" - field programmable gate arrays), processors digital signal processors (DSPs), programmable logic devices (PLD), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates or other integrated formats. Some aspects described here, in whole or in part, can be implemented in an equivalent way in integrated circuits, such as one or more computer programs running on one or more computers (for example, as one or more programs running on one or more computer systems). computer), as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), as firmware, or virtually as any combination of them, and to design the circuitry and / or writing the code for the software and firmware would be within the scope of practice of one skilled in the art in light of this description.
[00168] [00168] The mechanisms of the subject described here can be distributed as a program product in a variety of ways and that an illustrative aspect of the subject described here is applicable regardless of the specific type of signal transmission medium used to effectively perform the distribution. Examples of a signal transmission medium include the following: a recordable medium such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a digital tape, a memory computer, etc .; and transmission-type media, such as digital and / or analog communication media (for example, a fiber optic cable, a waveguide, a wired communication link, a wireless communication link (for example, transmitter, receiver, transmission logic, reception logic, etc.).
[00169] [00169] The previously mentioned description of these aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form described. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described in order to illustrate the principles and practical application to, thus, enable 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.
[00170] [00170] Various aspects of the subject described in this document are defined in the following numbered examples:
[00171] [00171] 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a defined rotation interval; measuring the time at a defined position of the rotation interval, where the measured time is defined as the time that the displacement member takes to traverse the rotation interval based on a predetermined number of revolutions of the drive shaft; and defining a command speed of the travel member for a subsequent zone based on the time measured in the current predefined zone.
[00172] [00172] Example 2. The surgical instrument of Example 1, in which the control circuit is configured to: determine the defined rotation interval in which the displacement member is located, in which the defined rotation interval is defined by several rotations the drive axis that result in a linear translation of the displacement member from an initial position to an end position; and measuring the time until the displacement member reaches the end position of the rotation interval.
[00173] [00173] Example 3. The 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 determining the adjustment or maintenance of the control speed based on the comparison.
[00174] [00174] Example 4. The surgical instrument of Example 3, in which the control circuit is configured to maintain the command speed of the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined time range .
[00175] [00175] Example 5. The surgical instrument from Example 3 to Example 4, in which the control circuit is configured to set the command speed of the subsequent zone different from the command speed of the current zone when the measured time is within a range predetermined time.
[00176] [00176] Example 6. The 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.
[00177] [00177] Example 7. The surgical instrument from Example 1 to Example 6, in which the multiple zones are defined by a staple cartridge configured to operate with the surgical instrument.
[00178] [00178] Example 8. The surgical instrument of Example 7, in which at least two zones have a different length.
[00179] [00179] Example 9. The surgical instrument from Example 1 to Example 8, in which additionally comprises a thread drive system coupled to the motor drive shaft, the thread drive system comprising a lead screw coupled to a nut , in which the nut is coupled to the displacement member.
[00180] [00180] 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a defined rotation interval; measuring time as the displacement member moves from a parked position to a target position based on a predetermined number of rotations of the drive shaft; and defining a command speed of the displacement member for a first dynamic zone based on the measured time.
[00181] [00181] Example 11. The 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.
[00182] [00182] Example 12. The surgical instrument of example 11, in which the control circuit is configured to set the command speed of the initial zone to a first speed, when the measured time is within a first time interval, and to define the command speed of the starting zone for a second speed when the measured time is within a second time interval.
[00183] [00183] Example 13. The surgical instrument from Example 10 to Example 12, in which the control circuit is configured to determine the locking condition and stop the engine.
[00184] [00184] Example 14. The surgical instrument from Example 10 to Example 13, in which additionally comprises a thread drive system coupled to the motor drive shaft, the thread drive system comprising a lead screw coupled to a nut , in which the nut is coupled to the displacement member.
[00185] [00185] Example 15. A method of controlling the speed of the motor in a surgical instrument, the surgical instrument comprising a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor comprising an axis drive, the motor coupled to the displacement member to move the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor configured to monitor the rotation of the drive shaft, a timer circuit coupled to the control circuit, the timer / counter circuit configured to measure the elapsed time, in which the method comprises: receiving, from a position sensor, rotations of the driving axis in a current zone defined by an interval of defined rotation; measure, by means of a timer circuit, a time at a defined position of the rotation interval, where the measured time is defined by the time that the displacement member takes to cross the rotation interval based on a predetermined number of rotations of the drive shaft; and defining, by means of the control circuit, a speed of command of the displacement member for a subsequent zone based on the time measured in the current zone.
[00186] [00186] Example 16. The method of Example 15, which further comprises: determining, by means of the control circuit and the timer circuit, the defined rotation interval in which the displacement member is located, in which the defined rotation interval it is defined by several 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, through the control circuit, until the displacement member reaches the end position of the rotation interval.
[00187] [00187] Example 17. The method of Example 15 to Example 16, 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 adjustment or maintenance of the speed based on the comparison.
[00188] [00188] Example 18. The method of Example 17, which further comprises maintaining, through the control circuit, the command speed of the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined range of times.
[00189] [00189] Example 19. The method of Example 17 to Example 18, which further comprises defining, by means of the control circuit, the command speed of the subsequent zone different from the command speed of the current zone when the measured time is outside a predetermined time interval.
[00190] [00190] Example 20. The method of Example 19, which further comprises ignoring, by means of the control circuit, a time measurement of a subsequent zone when the command speed is adjusted.
[00191] [00191] Example 21. The method of Example 15 to Example 20, which further comprises defining, by means of the control circuit, multiple zones for a staple cartridge configured to operate with the surgical instrument.
[00192] [00192] Example 22. The method of Example 21, which further comprises defining, by means of the control circuit, at least two zones having a different length.

权利要求:
Claims (22)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument over a plurality of predefined zones; a motor 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a defined rotation interval; measuring the time at a defined position of the rotation interval, where the measured time is defined as the time that the displacement member takes to traverse the rotation interval based on a predetermined number of revolutions of the drive shaft; and defining a command speed of the travel member for a subsequent zone based on the time measured in the current predefined zone.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to:
determining the defined rotation interval in which the displacement member is located, in which the defined rotation interval is defined by several rotations of the driving axis that result in a linear translation of the displacement member from an initial position to an end position; and measuring the time until the displacement member reaches the end position of the rotation interval.
[3]
3. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is configured to: compare the measured time to a predetermined time stored in a memory coupled to the control circuit; and determining speed adjustment or maintenance based on comparison.
[4]
4. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to maintain the command speed of the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined range from time.
[5]
5. Surgical instrument, according to claim 3, characterized by the fact that the control circuit is configured to set the command speed of the subsequent zone different from the command speed of the current zone when the measured time is outside a predetermined range from time.
[6]
6. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is configured to ignore a time measurement for a subsequent zone when the control speed is adjusted.
[7]
7. Surgical instrument, according to claim 1, characterized by the fact that multiple zones are defined by a staple cartridge configured to operate with the surgical instrument.
[8]
8. Surgical instrument, according to claim 7, characterized by the fact that at least two zones have a different length.
[9]
9. Surgical instrument, according to claim 1, characterized by the fact that it additionally comprises a thread drive system coupled to the motor drive shaft, the thread drive system comprises a lead screw coupled to a nut, in that the nut is coupled to the displacement member.
[10]
10. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument along a plurality of predefined zones; a motor 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, the position sensor being configured to monitor the rotation of the drive shaft; a timer circuit coupled to the control circuit, the timer / counter circuit being 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 a predetermined rotation interval; measuring time as the displacement member moves from a parked position to a target position based on a predetermined number of rotations of the drive shaft; and defining a command speed of the displacement member for a first dynamic zone based on the measured time.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the control circuit is configured to compare the measured time to a predetermined time stored in a memory coupled to the control circuit.
[12]
12. Surgical instrument, according to claim 11, characterized by the fact that the control circuit is configured to set the command speed of the initial zone to a first speed, when the measured time is within a first time interval, and setting the command speed of the start zone to a second speed when the measured time is within a second time interval.
[13]
13. Surgical instrument, according to claim 10, characterized by the fact that the control circuit is configured to determine the locking condition and stop the engine.
[14]
14. Surgical instrument, according to claim 10, characterized by the fact that it additionally comprises a thread drive system coupled to the motor drive shaft, the thread drive system comprises a lead screw coupled to a nut, in that the nut is coupled to the displacement member.
[15]
15. Method of speed control of the motor in a surgical instrument, the surgical instrument that comprises a displacement member configured to move within the surgical instrument along a plurality of predefined zones, a motor that comprises a drive shaft, the 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, the position sensor configured to monitor the rotation of the drive shaft, a timer circuit coupled to the circuit control, the timer / counter circuit configured to measure the elapsed time, the method characterized by the fact that it comprises: receiving, from a position sensor, rotations of the drive shaft in a current zone defined by a defined rotation interval ; measure, by means of a timer circuit, a time at a defined position of the rotation interval, where the measured time is defined by the time that the displacement member takes to cross the rotation interval based on a predetermined number of rotations of the drive shaft; and and defining, by means of the control circuit, a speed of command of the displacement member for a subsequent zone based on the time measured in the current zone.
[16]
16. Method, according to claim 15, characterized by the fact that it additionally comprises: determining, by means of the control circuit and the timer circuit, the defined rotation interval in which the displacement member is located, in which the interval Defined rotation speed is defined by several 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, through the control circuit, until the displacement member reaches the end position of the rotation interval.
[17]
17. Method according to claim 15, characterized by the fact that it additionally comprises:
compare, through the control circuit, the time measured to a predetermined time stored in a memory coupled to the control circuit; and determining, by means of the control circuit, the adjustment or maintenance of the control speed based on the comparison.
[18]
18. Method according to claim 17, characterized in that it additionally comprises maintaining, by means of the control circuit, the command speed of the subsequent zone equal to the command speed of the current zone when the measured time is within a predetermined time interval.
[19]
19. Method, according to claim 17, characterized by the fact that it further comprises defining, through the control circuit, the command speed of the subsequent zone different from the command speed of the current zone when the measured time is outside a predetermined time interval.
[20]
20. Method according to claim 19, characterized in that it further comprises ignoring, by means of the control circuit, a time measurement of a subsequent zone when the command speed is adjusted.
[21]
21. Method, according to claim 15, characterized by the fact that it further comprises defining, by means of the control circuit, multiple zones for a staple cartridge configured to operate with the surgical instrument.
[22]
22. Method according to claim 21, characterized by the fact that it further comprises defining, by means of the control circuit, at least two zones having a different length.

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同族专利:

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公开号 | 公开日

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JP2020524050A|2020-08-13|

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WO2018234892A1|2018-12-27|

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US20180360454A1|2018-12-20|

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US10980537B2|2021-04-20|

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CN110809440A|2020-02-18|

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EP3417808A1|2018-12-26|

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---

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

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

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

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

---

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

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

---

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JPS6060024B2|1977-10-19|1985-12-27|Hitachi Ltd|

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SU886897A1|1978-12-25|1981-12-07|Всесоюзный Научно-Исследовательский Институт Медицинской Техники|Surgical apparatus for applying side gastroenterostomy|

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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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US15/628,072|2017-06-20|

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US15/628,072|US10980537B2|2017-06-20|2017-06-20|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations|

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PCT/IB2018/053493|WO2018234892A1|2017-06-20|2018-05-17|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations|

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