systems and methods for controlling the display of a surgical instrument's motor speed

专利摘要:
The present invention relates to a motorized surgical instrument. The surgical instrument includes a displacement member, a motor coupled to the displacement member, a control circuit coupled to the motor and a position sensor coupled to the control circuit. The control circuit is configured to determine a speed of the displacement member through the position sensor and cause the monitor to display a signal that is indicative of the speed of the displacement member, where a portion of the monitor occupied by the symbol corresponds to the speed displacement member.
公开号:BR112019027280A2
申请号:R112019027280-1
申请日:2018-05-17
公开日:2020-07-14
发明作者:Jason L. Harris；Frederick E. Shelton Iv；Sarah Worthington；Michael J. Vendely；Chester O. Baxter Iii；Christopher J. Hess；Douglas E. Withers
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
[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 user may not know the control speed or the actual speed of the cutting member or firing member. Therefore, it may be desirable to communicate information to the user through a display screen to provide information on the firing speed of the cutting member or the firing member, where the speed is related to the size of the zone that is indicated on the display screen. . It may be desirable to communicate speed control to show command speed as well as the trigger mode in an automatic closed loop feedback mode in a manually selected mode. SUMMARY
[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; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor a position of the displacement member; and wherein the control circuit is configured to: determine a speed of the displacement member through the position sensor; causing the monitor to display a symbol that is indicative of a mode of the surgical instrument, wherein the mode comprises an automatic mode and a manual mode; and causing the monitor to display a symbol that is indicative of the speed of the displacement member, wherein a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member.
[005] [005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; and where the control circuit is configured to: provide an engine setpoint for the engine, the engine setpoint being configured to cause the engine to drive the travel member at a speed; showing a symbol on the monitor that is indicative of the speed of the displacement member, where a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member; and show a second symbol on the monitor that is indicative of the engine setpoint speed.
[006] [006] In another aspect, the present description provides a method for operating a surgical instrument. The surgical instrument comprises a displacement member configured to transfer within the surgical instrument, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the sensor of position configured to monitor a position of the displacement member, in which the method comprises: determining, through the control circuit, a velocity of the displacement member through the position sensor; and display, through the control circuit, a symbol on the monitor that is indicative of the speed of the displacement member, in which a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member and in which the symbol representing a higher speed high is greater than the symbol representing a lower speed. 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 in Figure
[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 16 is a perspective view of a surgical instrument in accordance with an aspect of the present description.
[0024] [0024] Figure 17 is a detailed view of a monitor portion of the surgical instrument shown in Figure 16, in accordance with an aspect of the present description.
[0025] [0025] Figure 18 is a logic flow diagram of a process that represents a control program or a logical configuration for controlling a monitor, according to an aspect of the present description.
[0026] [0026] Figure 19 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0027] [0027] Figure 20 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0028] [0028] Figure 21 is a monitor representing an indicative speed feedback screen in an automatic way, according to an aspect of the present description.
[0029] [0029] Figure 22 is a monitor representing an indicative speed feedback screen in an automatic way, according to an aspect of the present description.
[0030] [0030] Figure 23 is a monitor representing an indicative speed feedback screen in an automatic way, according to an aspect of the present description.
[0031] [0031] Figure 24 is a monitor representing an indicative speed feedback screen in an automatic way, according to an aspect of the present description.
[0032] [0032] Figure 25 is a monitor representing an indicative speed feedback screen in a manual way, according to an aspect of the present description.
[0033] [0033] Figure 26 is a monitor representing an indicative speed feedback screen in a manual way, according to an aspect of the present description.
[0034] [0034] Figure 27 is a monitor representing an indicative speed feedback screen in an automatic way, according to an aspect of the present description.
[0035] [0035] Figure 28 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0036] [0036] Figure 29 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0037] [0037] Figure 30 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0038] [0038] Figure 31 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0039] [0039] Figure 32 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0040] [0040] Figure 33 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0041] [0041] Figure 34 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0042] [0042] Figure 35 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0043] [0043] Figure 36 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0044] [0044] Figure 37 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0045] [0045] Figure 38 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0046] [0046] Figure 39 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0047] [0047] Figure 40 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0048] [0048] Figure 41 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0049] [0049] Figure 42 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0050] [0050] Figure 43 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0051] [0051] Figure 44 is a monitor representing a speed feedback screen, according to one aspect of the present description.
[0052] [0052] Figure 45 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0053] [0053] Figure 46 is a monitor representing a speed feedback screen indicative of a command speed and an actual speed, according to an aspect of the present description.
[0054] [0054] Figure 47 is a monitor representing a speed feedback screen indicative of a command speed and an actual speed, according to an aspect of the present description.
[0055] [0055] Figure 48 is a monitor representing a speed feedback screen indicative of a command speed and an actual speed, according to an aspect of the present description.
[0056] [0056] Figure 49 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0057] [0057] Figure 50 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0058] [0058] Figure 51 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0059] [0059] Figure 52 is a monitor representing a speed feedback screen, according to an aspect of the present description.
[0060] [0060] Figure 53 is a monitor representing a temperature feedback screen, according to an aspect of the present description. DESCRIPTION
[0061] [0061] 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:
[0062] [0062] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0063] [0063] Attorney Document No. END8192USNP / 170055, entitled SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0064] [0064] Attorney Document No. END8193USNP / 170056, entitled SYSTEMS AND METHODS FOR CONTROLLING
[0065] [0065] Attorney document number END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0066] [0066] Attorney document number END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0067] [0067] 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.
[0068] [0068] Attorney document number END8197USNP / 170060,
[0069] [0069] Attorney's document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENT. MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Frederick E. Shelton, IV et a /., Filed on June 20, 2017.
[0070] [0070] Attorney document number END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL
[0071] [0071] Attorney Document No. END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR
[0072] [0072] Attorney document number END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR
[0073] [0073] Attorney document number END8268USNP / 170186, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0074] [0074] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0075] [0075] Attorney Document No. END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0076] [0076] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING
[0077] [0077] Attorney document number END8270USNP / 170191, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR
[0078] [0078] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR
[0079] [0079] The applicant for the present application holds the following US design patent applications filed simultaneously with him and which are each incorporated herein by reference in their respective totalities:
[0080] [0080] 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.
[0081] [0081] Attorney document number END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et a /., Filed on June 20, 2017.
[0082] [0082] 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.
[0083] [0083] 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.
[0084] [0084] The terms "proximal" and "distal" refer to a doctor manipulating the handle of the surgical instrument where "proximal" refers to the portion closest to the doctor and "distal" refers to the portion located in the 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.
[0085] [0085] 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.
[0086] [0086] The Figures | 4 show an engine-operated surgical instrument 10 for cutting and clamping, 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 STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" ”, which is incorporated herein by way of reference, in its entirety.
[0087] [0087] 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.
[0088] [0088] The handle assembly 14 can 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.
[0089] [0089] 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 a position
[0090] [0090] 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
[0091] [0091] The electric motor 82 can include a rotary drive shaft (not shown), which, operationally, interfaces with a gear reduction assembly 84, which is mounted on 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.
[0092] [0092] 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 so as to operate the electric motor 82 at 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
[0093] [0093] 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.
[0094] [0094] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 comprising an elongated channel 302 that is configured to operationally support a surgical staple cartridge
[0095] [0095] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the action of the closing trigger 32 in the manner described in the previously mentioned reference of the publication of patent application No. 2014/0263541 The anvil 306 is opened by means of the proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0096] [0096] 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 substantially moving the cutter bar 280. Once the end actuator 300 has been properly oriented, the intermediate firing drive shaft 222 can be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the cutter bar 280 and fire a staple cartridge positioned inside d channel 302. The back 210 has an elongated opening or window 213 inside it to facilitate the assembly and insertion of the intermediate trigger drive shaft 222 into the back 210. When the intermediate trigger drive shaft 222 has been inserted into it , an upper segment of the structure 215 can be engaged in the structure of the drive shaft 212 to enclose the intermediate drive shaft 222 and the cutter bar 280 itself. The operation of the trigger member 220 can be seen in the order publication US Patent No. 2014/0263541. The back 210 can be configured to slidably support a firing member 220 and the closing tube 260 which extends around the back 210. The back 210 can slidably support an articulation actuator 230.
[0097] [0097] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the hinge actuator 230 to the firing member
[0098] [0098] 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. The slip ring assembly 600 may comprise a proximal connector flange 604 and a distal connector flange 601 positioned within a slot defined in the mouth portions 202, 203. The proximal connector flange 604 may comprise a first face and the flange the distal connector 601 may comprise a second face, which is positioned adjacent and which is movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft (Figure 1). The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602, defined on its first face. A connector 607 can be mounted on the proximal side of the distal connector flange 601 and can have a plurality of contacts where each contact corresponds to and is in electrical contact with one of the conductors 602. This arrangement allows for relative rotation between the connector flange proximal 604 and the distal connector flange 601, while electrical contact is maintained between them. The proximal connector flange 604 can include an electrical connector 606 that can place conductors 602 in signal communication with a drive shaft circuit board, for example. In at least one case, an electrical harness comprising a plurality of conductors can extend between electrical connector 606 and the circuit board of the drive shaft. The electrical connector 606 can extend proximally through a connector opening defined on the chassis mounting flange. US patent application publication No. 2014/0263551, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. US patent application publication No. 2014/0263552, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", is hereby incorporated by reference in its entirety. Additional details regarding the slip ring assembly 600 can be found in US patent application publication No. 2014/0263541.
[0099] The interchangeable drive shaft assembly 200 may include a proximal portion that is securely mounted on 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.
[00100] [00100] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 can include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. 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.
[00101] [00101] 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.
[00102] [00102] Figures 5A and 5B are a block diagram of a control circuit 700 of surgical instrument 10 of Figure 1, which comprises two drawing sheets, 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, which can be used as a power source to power the surgical instrument 10. In certain circumstances, the battery cells in the 706 power pack may be replaceable and / or rechargeable. In at least one example, the battery cells can be lithium ion batteries that can be separably coupled to the 706 power pack.
[00103] [00103] The drive shaft assembly 704 can 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 supply 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 716. In response , The power management controller can modulate the battery power output of the 706 power pack, as described in more detail below, according to the power requirements of the fixed drive shaft assembly 704. The connectors may comprise switches that they can be activated after mechanical coupling of the handle assembly 702 to the drive shaft 704 and / or the power supply 706 to enable electrical communication between the drive assembly controller 722 and the power management controller 716.
[00104] [00104] 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.
[00105] [00105] 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 program StellarisWareO, electronically erasable programmable read-only memory ("EEPROM") of 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 channels of analog input the details of which are available in the product data sheet.
[00106] [00106] 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.
[00107] [00107] 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.
[00108] [00108] 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, output device 742 may comprise a screen 743 which may be included in handle assembly 702. Drive shaft assembly controller 722 and power management controller 716 may provide feedback to a user of the surgical instrument 10 via the output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the output device 742. The output device 742 can instead be integrated into the power supply 706. Under these circumstances, communication between the device Output vo 742 and the drive shaft assembly controller 722 can be made via the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[00109] [00109] The control circuit 700 comprises segments configured to control the operations of the energized surgical instrument 10. A segment of the safety controller (Segment 1) comprises a safety controller and the segment of the main controller 717 (Segment 2). The safety controller and / or the main controller 717 are configured to interact with one or more additional circuit segments, such as an acceleration segment, a display segment, a drive axis segment, an encoder segment, a motor and a power segment. Each of the circuit segments can be coupled to the safety controller and / or the main controller 717. The main controller 717 is also coupled to a flash memory. The main controller 717 also comprises a serial communication interface. Main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and / or a plurality of switches. The segmented circuit can be implemented by any suitable circuit, such as, for example, a printed circuit board assembly ("PCBA '") inside the energized surgical instrument 10. It must be understood that the term processor, as used here, includes any microprocessor, processor, controller, controllers, or other basic computing device that incorporates the functions of a central computer processing unit (CPU) in an integrated circuit or at most some integrated circuits. The 717 main controller is a programmable multipurpose device that accepts digital data as input, processes it according to instructions stored in its memory and provides results as output. This is an example of sequential digital logic, as it has internal memory. The control circuit 700 can be configured to implement one or more of the processes described herein.
[00110] [00110] The acceleration segment (Segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. At the entrance of the accelerometer it is used to transition to and from a suspension 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.
[00111] [00111] 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.
[00112] [00112] The drive shaft segment (Segment 5) comprises controls for an interchangeable drive shaft assembly 200 (Figures 1 and 3) coupled to the surgical instrument (Figures 1 to 4) and / or one or more controls for an actuator endpoint 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 10 .
[00113] [00113] 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
[00114] [00114] 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.
[00115] [00115] 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.
[00116] [00116] The power segment (Segment 8) comprises a battery coupled to the safety controller, the main controller 717 and the 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.
[00117] [00117] 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 (Figures 1 to 4) of the segmented circuit and / or indicate an instrument state surgical 10. An ejection port switch and ejection Hall switch are configured to indicate the status of the ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of a drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 (Figures 1 and 4). A reverse switch on the left side and a reverse switch on the right side are coupled to the main controller
[00118] [00118] Any suitable mechanical, electromechanical or solid state switches can be used to implement the plurality of keys in any combination. For example, the keys can be limited keys operated by the movement of the components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence,
[00119] [00119] 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 interchangeable drive shaft assembly 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. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and the drive shaft assembly 728 for electrically coupling the drive shaft assembly connector 704 to the handle assembly assembly 702. The drive shaft assembly connectors 726, 728 form the interface 725. The main controller 717, the drive shaft processor 719 and / or the power management controller 716 can be configured to implement one or more of the processes described herein. .
[00120] [00120] 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
[00121] [00121] —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 806 instruction processing unit and an arithmetic unit
[00122] [00122] 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.
[00123] [00123] Figure 9 illustrates a sequential logic circuit 820 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Sequential logic circuit 820 or combinational logic circuit 822 can be configured to implement various processes described herein. Circuit 820 may comprise a finite state machine. Sequential logic circuit 820 may comprise a combinational logic circuit 822, at least one memory circuit 824 and a clock 829, for example. The at least one memory circuit 820 can store a current state of the finite state machine. In certain cases, the sequential logic circuit 820 can be synchronous or asynchronous. The combinational logic circuit 822 is configured to receive data associated with the surgical instrument 10 from an input 826, process the data through the combinational logic circuit 822 and provide an output
[00124] [00124] 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.
[00125] [00125] 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 1111. Back to Figures 2 to 4, in one aspect the displacement member 1111 represents a displacement member. longitudinally movable drive 120 (Figure 2) comprising a rack of drive teeth 122 for coupling engagement with a corresponding drive gear 86 of a gear reduction assembly 84. In other respects, the displacement member 1111 represents the firing member 220 (Figure 3), which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member 1111 represents the firing bar 172 (Figure 4) or the i-profile beam 178 (Figure 4), each of which can be adapted and configured to include a rack of teeth. drive. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the instrument 10, such as the driving member 120, the clamping arm 220, the firing bar 172, the profile beam in i 178 or any element that can be moved. In one aspect, the longitudinally movable drive member 120 is coupled to the firing member 220, the firing bar 172 and the beam with an i-profile 178. Consequently, the absolute positioning system 1100 can, in effect, track the linear displacement of the beam with i-profile 178 by tracking the linear displacement of the longitudinally movable drive member 120. In several other aspects, the displacement member 1111 can be coupled to any suitable sensor to measure the linear displacement. In this way, the longitudinally movable drive member 120, the firing member 220, the firing bar 172 or the beam with i-profile 178, or combinations, can be coupled to any suitable linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors may comprise linear variable differential transformers ("LVDT" - linear variable differential transformers), differential variable reluctance transducers ("DVRT"), a sliding potentiometer, a magnetic detection system comprising a magnet mobile and a series of linearly arranged Hall effect sensors, a magnetic detection system comprising a fixed magnet and a series of linearly arranged mobile Hall effect sensors, a mobile optical detection system comprising a mobile light source and a series of linearly arranged photodiodes or photodetectors, an optical detection system comprising a fixed light source and a mobile series of linearly arranged photodiodes or photodetectors or any combination thereof.
[00126] [00126] An electric motor 1120 may include a rotary drive shaft 1116, which, operationally, interfaces with a gear set 1114, which is mounted in coupling hitch 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
[00127] [00127] A single revolution of sensor element 1126 associated with position sensor 1112 is equivalent to a longitudinal linear displacement of d1 of displacement member 1111, where dl is the longitudinal linear distance by which displacement member 1111 moves from point " a "to point" b "after a single revolution of the sensor element 1126 coupled to the displacement member 1111. The sensor arrangement 1102 can be connected by means of a gear reduction 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.
[00128] [00128] A series of keys 1122a through 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of the 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 sensor output 1124 position 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.
[00129] [00129] 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.
[00130] [00130] 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 patent application US 15 / 130,590 entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed in April 2016, the description of which is incorporated herein by reference, in its entirety.
[00131] [00131] 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.
[00132] [00132] 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 to 5B).
[00133] [00133] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The AS3941 1110 driver is an entire bridge controller for use with external power 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 door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. A capacitor input control can be used to supply the voltage surpassing that supplied by the battery required for the N channel MOSFETs. An internal charge pump for the upper side drive allows direct current operation (100% duty cycle). The entire bridge can be triggered in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. Power FETs are protected from the shoot-through effect through programmable dead-time resistors. The integrated diagnostics provide indication of undervoltage, overtemperature and faults in the power bridge and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor drives can be replaced immediately for use in the 1100 absolute positioning system.
[00134] [00134] Having described a general architecture for implementing aspects of an absolute positioning system 1100 for a sensor array 1102, the description now turns to Figures 11 and 12 for a description of an aspect of a sensor array 1102 for the absolute positioning system 1100. Figure 11 is an exploded perspective view of the sensor arrangement 1102 for the absolute positioning system 1100, showing a circuit 1205 and the relative alignment of the elements of the sensor arrangement 1102, according to one aspect. The sensor arrangement 1102 for an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111, and a set of gears 1206 to provide a gear reduction. With reference to Figure 2, the drive member 1111 can represent the longitudinally movable drive member 120 comprising a rack of drive teeth 122 for coupling engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Returning to Figure 11, a structural element, such as a bracket 1216, is provided to support gear assembly 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.
[00135] [00135] 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, optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[00136] [00136] 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.
[00137] [00137] 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
[00138] [00138] 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, ASSOSSEQFT position sensor, available from Austria Microsystems, AG. The position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system 1100. Position sensor 1200 is a low voltage, low power component and includes four Hall effect elements 1228A, 1228B, 1228C, 1228D in one area 1230 of position sensor 1200 located above magnet 1202 (Figures 15 and 16). A 1232 high-resolution ADC converter and a 1238 intelligent power management controller are also featured on the integrated circuit. A 1236 CORDIC (Coordinate Rotation Digital Computer) processor, also known as digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, displacement operations bits and lookup table. The angular position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as an SPI 1234 interface, to controller 1104. Position sensor 1200 provides 12 or 14 bits of resolution. The position sensor 1200 can be an ASS5055 integrated circuit supplied in a small 16-pin QFN package of 4x4x0.85 mm.
[00139] [00139] 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 ASS5055 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 ASS055 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, by energizing or upon demand from controller 1104.
[00140] [00140] The ASS055 1200 position sensor requires only a few external components to operate when connected to the controller
[00141] [00141] Due to the measurement principle of the AS5055 1200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as the measurement of an angle is completed, the position sensor
[00142] [00142] 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 an I-profile 2514 in relation to the fabric 2526 trapped within 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
[00143] [00143] 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 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.
[00144] [00144] "In the second stroke region of firing member 2519, cutting edge 2509 may start to come into contact and cut the fabric
[00145] [00145] As discussed above and with reference now to Figures 10 to 13, electric motor 1122 positioned inside the surgical instrument handle 10 (Figures 1 to 4) can be used to advance and / or retract the triggering of the drive shaft assembly, including the rod with profile | 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 profile in | 2514 can be advanced or retracted at a desired speed, or within a desired speed range.
[00146] [00146] The force acting on the beam with i 2514 profile can be determined using several 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 motor 2504 after a predetermined period of time T has elapsed and by comparing the actual position of the i-profile beam 2514 with the expected position of the i-profile beam 2514 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 the attorney's document number END8195USNP, which is incorporated herein by reference in its entirety.
[00147] [00147] Figure 14 shows 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.
[00148] [00148] 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 (tj) 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.
[00149] [00149] Control circuit 2510 can generate a motor setpoint signal 2522. The signal from motor setpoint 2522 can be supplied to a motor controller 2508. Motor controller 2508 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.
[00150] [00150] The 2504 motor can receive power from a 2512 power supply. The 2512 power supply can be or include a battery, a supercapacitor or any other suitable power source
[00151] [00151] 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.
[00152] [00152] 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.
[00153] [00153] 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.
[00154] [00154] 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 2504 motor. The measured force is converted into a digital signal and supplied to the 2510 control circuit.
[00155] [00155] Using the physical properties of the instruments described here, now with reference to Figures 1 to 14 and with reference to Figure 14, the 2510 control circuit can be configured to simulate the real system response of the instrument in the controller software. A displacement member can be actuated to move an i-profile beam 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument can include a feedback controller, which can be one or any of the feedback feedback controllers, including, but not limited to, a PID controller, status feedback, LOR and / or an adaptive controller, for example. The 2500 surgical instrument can include a power supply to convert the feedback signal from the feedback controller to a physical input, such as box voltage, pulse width modulated voltage (PWM), frequency modulated voltage, current, torque and / or force , for example.
[00156] [00156] 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 an articulation system and / or knife. Another example is the 2504 electric motor that operates the displacement member and the articulation drive, for example, from an interchangeable drive shaft assembly. An external influence is an excessive and unpredictable influence on things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the 2504 electric motor. External influence, like drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.
[00157] [00157] 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.
[00158] [00158] 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.
[00159] [00159] In several examples, the surgical instrument 2500 may comprise a control circuit 2510 programmed to control the distal translation of the displacement member, such as the beam with I-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.
[00160] [00160] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of the travel of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the 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.
[00161] [00161] Figure 15 illustrates a diagram 2580 showing two examples of displacement member courses performed in accordance with an aspect of the present description. Diagram 2580 comprises two axes. A horizontal axis 2584 indicates elapsed time. A vertical axis 2582 indicates the position of the beam with 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 in to. The open circuit portion of the travel of the displacement member is an initial period of time that can elapse between bet.
[00162] [00162] 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 to 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 firing control program that advances the beam with i 2514 profile at a selected constant speed (Vlenta), indicated by the slope of example 2592 after t; (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.
[00163] [00163] During the initial time period (for example, the open circuit period) between to and ti, the beam with i-profile 2514 can cross from the initial position of the 2586 course to the 2596 position. 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 .
[00164] [00164] The description now turns to a closed loop feedback system to control the engine speed based on a variety of conditions. The closed loop feedback system, as performed by the 2510 control circuit, can be configured to implement a standard trigger condition, for example, preprogrammed, or a trigger condition selected by the user. The trigger condition selected by the user can be selected during the open circuit portion or before the closed circuit portion of the travel path. In one aspect, the trigger condition selected by the user is configured to override the execution of the standard or preprogrammed trigger condition.
[00165] [00165] Turning now to Figure 16, a perspective view of a 10500 surgical instrument is shown, according to an aspect of this description. In one aspect, a surgical instrument 10500 comprising an end actuator 10504 connected by means of a drive shaft 10503 to a handle assembly 10502 additionally comprises a monitor 10506. The surgical instrument 10500 comprises a start button 10508, a toggle switch 10510, a trigger trigger and a safety release 10512 and a closing trigger 10514.
[00166] [00166] In the discussion presented below, reference should also be made to Figure 14. Monitor 10506 is operationally coupled to control circuit 2510 so that control circuit 2510 can cause monitor 10506 to show various associated information to the operation of the 10500 instrument, as determined by or from the position sensor 2534, the current sensor 2536 and / or other sensors 2538. In one aspect, the monitor 10506 can be configured to show the speed at which the beam with profile in i 2514 it is defined to be translated by motor 2504, that is, a control speed, and / or the real speed at which the beam with profile in i 2514 is being translated. The command speed is the set, target or desired speed. The command speed at which the beam with i 2514 profile must be translated can be determined or receiving the motor setpoint, which dictates the speed at which motor 2504 drives the beam with i 2514 profile, dictated by the motor 2524 from motor control 2508 or by storing the motor 2524 drive signal that is provided to motor control 2508 in a memory for subsequent retrieval. The actual speed at which the beam with i 2514 profile, or another component of the trigger drive system, is being translated can be determined by monitoring the position of the beam with i 2514 profile over a period of time, which can be tracked by the 2510 control circuit through the 2531 timer / counter input.
[00167] [00167] In several respects, the 10506 monitor of the surgical instrument 10500 can be positioned directly on the outside of the compartment or housing of the 10502 handle set, or be integrally associated with the surgical instrument 10500. In other aspects, the 10506 monitor can be removably connected or fixed to the 10500 surgical instrument. In still other aspects, the 10506 monitor can be separated or isolated from the 10500 surgical instrument. The 10506 monitor can be connected in a communicable way to the 2510 control circuit using a wired connection or a wireless connection.
[00168] [00168] Figure 17 is a detailed view of a portion of monitor 10506 of surgical instrument 10500 shown in Figure 16, in accordance with an aspect of the present description. Monitor 10506 includes an LCD screen 10516 for communicating speed control including showing command speed as well as whether the trigger mode is in a (automatic) feedback mode or manually selected mode. Monitor 10506 provides transection feedback by displaying a graphic image of a 10518 end actuator clamp cartridge with a 10520 knife and rows of clamps
[00169] [00169] Figure 18 is a logic flow diagram of a 10550 process that represents a control program or a logical configuration for controlling a monitor, in accordance with an aspect of the present description. Reference should also be made to Figures 14 and
[00170] [00170] The speed or speed symbols may include a number indicating a speed displayed in, for example, mm / s, a number indicating a speed value in relation to a maximum or minimum value, a format that is changed according to speed, a format that is filled or shaded with a color according to speed, an alphanumeric shape or character that flashes according to speed, an alphanumeric shape or character that changes color, according to speed, a disc indicative of absolute or relative velocity, a format or alphanumeric character indicative of a zone in which velocity falls, an icon or a series of icons representing an animal indicative of a velocity, various other symbols configured to represent velocity, and combinations of themselves. These symbols are illustrated and described below in the form of representations of the feedback screens in reference to Figures 19 to 53, for example.
[00171] [00171] Figures 19 to 21 illustrate several 10600 monitors representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10600 represents a graphic image of the 10618 clamp cartridge for an end actuator. Monitor 10600 comprises speed symbol 10602 to indicate the command or actual speed of the displacement member (for example, the beam with i 2514 profile). In one aspect, the Speed Symbol 10602 comprises a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 19 to 21. The one or more shapes of the speed symbols 10602 can include, for example, a triangular trunk or any other suitable geometric shape. In one aspect, speed symbols 10602 can comprise a plurality of zones that are indicative of the relative speed value. In one of these aspects, the speed symbol 10602 comprises a first zone 10604, a second zone 10606 and a third zone 10608 which correspond respectively to slow, medium and fast speed. Control circuit 2510 causes monitor 10600 to indicate the zone in which the speed drops, as determined by control circuit 2510, as discussed above. Each of the zones 10604, 10606, 10608 can comprise 10610 graduations or marks to provide more resolution of the control speed of the beam element with i 2514 profile. In addition, the speed symbols 10602 can comprise a graph representing the slow speed as a silhouette of a turtle 10612 below the first zone 10604 and a graph representing fast speed as a silhouette of a hare 10614 above the third zone 10608. As shown in Figure 19, the command speed is defined as average, as indicated by the first and second zones 10604, 10606 being filled or shaded, while the third zone 16008 is neither filled nor shaded. As shown in Figure 20, the drive speed is set to low, as indicated only by the first zone 10606 being filled or shaded, while the second and third zones 10604, 16008 are neither filled nor shaded. As shown in Figure 21, the drive speed is defined as high, as indicated by all three zones 10604, 10606, 10608 being completely filled or shaded. The 10620 status bar at the bottom of the 10600 monitor indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 19 to 21, the status bar 10620 indicates normal operation.
[00172] [00172] In some respects, the 10600 monitor additionally comprises a symbol indicating the mode in which the surgical instrument 10500 is defined. Such modes may include, for example, an automatic mode 10616 or a manual mode 10622. Such modes and processes for the control circuit 2510 control the speed at which the beam with I-profile 2514 is driven and do, correspondingly, with that monitor 10600 indicates the mode of surgical instrument 10500, are described in US patent application No. END8270USNP / 170191, which is hereby incorporated by reference in its entirety. In some respects, automatic mode 10616 or manual mode 10622 may be flashing 10624.
[00173] [00173] Speed symbols 10602 may additionally comprise several alphanumeric characters configured to indicate speed. Alphanumeric characters can be displayed alone or in combination with other symbols such as zones.
[00174] [00174] In one aspect, the size or relative portion of monitor 10600 occupied by speed symbols 10602 correspond to speed. For example, speed symbols 10602 can be filled in or shaded according to the speed relative to a maximum speed, as shown in Figures 19 to 27. In another aspect where speed symbol 10602 comprises alphanumeric characters, the size of the alphanumeric character can increase according to the speed determined by the 2510 control circuit.
[00175] [00175] Figures 22 to 24 illustrate several monitors 10630 representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10630 represents a graphic image of the 10642 clamp cartridge for an end actuator. The monitor 10630 comprises speed symbols 10632 to indicate the command or actual speed of the displacement member (for example, the beam with 251 profile). In one aspect, the Speed Symbol 10632 comprises a shape or a series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 22 to 24. The one or more shapes of the 10632 speed symbols may include, for example, a triangular trunk or any other suitable geometric shape. In one aspect, the speed symbols 10632 may comprise a plurality of zones that are indicative of the relative speed value. In one of these aspects, the speed symbol 10632 comprises a first zone 10634, a second zone 10636 and a third zone 10638 which correspond respectively to slow, medium and fast speed. Control circuit 2510 causes monitor 10630 to indicate the zone in which the speed falls, as determined by control circuit 2510, as discussed above. Each of the zones 10634, 10636, 10638 can comprise graduations 10640 or marks to provide more resolution of the command speed of the beam element with i 2514 profile. In addition, the speed symbols 10632 can comprise an alphanumeric character 10644 to indicate modes manual or automatic operation. In the illustrated examples, the mode is set to AUTO for automatic. The 10646 status bar at the bottom of the 10630 monitor indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 22 to 24, the status bar 10646 indicates normal operation.
[00176] [00176] As shown in Figure 22, the control speed is defined as average, as indicated by the first and second zones 10634, 10636 filled or shaded, and by the third zone 16038 not filled or shaded. As shown in Figure 23, the drive speed is defined as low, as indicated by a first filled or shaded zone 10634 and by the second and third, unfilled or shaded zones 10636, 16038. As shown in Figure 24, the drive speed is defined as high, as indicated by all three zones 10634, 10636, 10638 filled or shaded.
[00177] [00177] Figures 25 to 27 illustrate several monitors 10650 representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10650 represents a graphic image of the 10662 clamp cartridge for an end actuator. The monitor 10650 comprises speed symbols 10652 to indicate the control speed as well as the real speed of the displacement member (for example, the beam with i 2514 profile). In one aspect, the speed symbol 10652 comprises a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 25 to
[00178] [00178] As shown in Figure 25, the actual speed is defined as average as indicated by the first and second zones 10654, 1066 filled or shaded and a third zone 16058 not filled or not shaded, and the command speed is defined as average, as indicated by the filled or shaded "M" icon 10655 (and by the "H" and "L" icons 10653, 10657 unfilled or not shaded). As shown in Figure 26, the actual speed is slow as indicated by the first filled or shaded zone 10654 (and second and third zones 10656, 16058 unfilled or unshaded) and the drive speed is set to low, as additionally indicated by the icon "L" filled in 10657 (and by the icons "H" and "M" 10653, 10655 not filled or not shaded). As shown in Figure 27, the actual speed is fast, as indicated by all three zones 10654, 10656, 10658 completely filled or shaded and the drive speed is set to high, as additionally indicated by the "H" 10653 filled or shaded icon (and the circled "M" and "L" icons not filled or not shaded 10655, 10657).
[00179] [00179] Figures 28 to 30 illustrate several monitors 10670, 10670 'representing various speed feedback screens, in accordance with an aspect of the present description. Monitor 10670, 10670 represents a graphic image of the clamp cartridge of a 10682 end actuator. Monitor 10670, 10670 'comprises speed symbols 10672, 10672' to indicate the control speed as well as the actual speed of the travel member ( for example, of the beam with i 2514 profile) during the firing cycle. In one aspect, the speed symbols 10672, 10672 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 28 to 30. The one or more shapes of the speed symbols 10672, 10672 can include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10672, 10672 can comprise an arcuate graphic 10678, 10678 'comprising multiple graduations 10680 to indicate the actual speed from 0 to 30 mm / s, for example, the displacement member. The alphanumeric characters 10684 (0, 7, 12 and 30) are arranged around the perimeter of the arched graph 10678, 10678 'to indicate the actual speed across a filled or shaded region 10686. Monitor 10670 shown in Figure 28 is a slightly modified from monitor 10670 'shown in Figures 29 and 30. For example, arcuate graphic 10678 from monitor 10670 shown in Figure 34 includes cutouts around alphanumeric characters 10684 (7 and 12), for example.
[00180] [00180] Furthermore, the speed symbols 10672, 10672 additionally comprise a filled or shaded circle icon 10676 with one or more white arrows to indicate the control speed, so that, for example, an arrow refers to low speed or slow, two arrows refer to medium speed and three arrows refer to high or fast speed. An additional alphanumeric character 10674 indicates the speed units, for example, mm / s. As the speed increases or decreases, the shaded region 10686 increases and decreases accordingly. The 10688 status bar at the bottom of the 10670 monitor indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 28 to 30, the status bar 10688 indicates normal operation. In one aspect, the fill or shade color of the 10686 speed region can be the same as the fill or shade color of the 10688 status bar to indicate normal or precautionary operating modes.
[00181] [00181] As shown in Figure 28, the actual speed is fast (-12 mm / s), as indicated by the shaded region 10686, and the command speed is set to high as indicated by the three arrows in the 10676 circle icon. noted earlier, the alphanumeric characters 10684 "7" and "12" include a clipping. As shown in Figure 29, the actual speed is also fast (-30 mm / s), as indicated by the shaded region 10686, and the command speed is set to high, as indicated by the three arrows in the circle icon 10676. As shown in Figure 30, the control speed is average (-10 mm / s), as indicated by the shaded region 10686, and the control speed is defined as average, as indicated by the three arrows in the circle icon 10676.
[00182] [00182] Figures 31 to 33 illustrate several monitors 10690, 10690 ", 10690" representing various speed feedback screens, in accordance with an aspect of the present description. Monitor 10690, 10690, 10690 ”represents a graphic image of the clamp cartridge for a 10702, 10702, 10702 end actuator”. Monitor 10690, 10690, 10690 "comprises speed symbols 10692, 10692 ', 10692" to indicate the control speed as well as the actual speed of the displacement member (for example, of the beam with i-profile 2514) during the shooting. In one aspect, the speed symbols 10692, 10692, 10692 ”comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 31 to 33. The one or more shapes of the speed symbols 10692, 10692, 10692 "can include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10692 10692, 10692" can comprise an arcuate graphic 10698, 10698 ', 10698 "comprising multiple gradations 10700 , 10700 ', 10700 "to indicate the actual speed from 0 to 30 mm / s, for example. The alphanumeric characters 10704, 10704 ', 10704 "(0.7, 12 and 30) are arranged around the perimeter of the arched graph 10698, 10698', 10698" to indicate the actual speed for a filled or shaded region 10706, 10706 ' , 10706 ”. Monitors 10690, 10690 ', 10690" are substantially similar but include some slight variations. For example, the arcuate graphic 10678 of monitor 10690 depicted in Figure 31 includes clippings around the alphanumeric characters 10704 (7 and 12), for example, while the arcuate graphic 10678 ', 10678 "of monitors 10690', 10690" shown in Figures 32 and 33 do not. In addition, speed symbols 10692, 10692 "from monitors 10690, 10690" shown in Figures 31 and 33 include an alphanumeric character 10694, 10694 "to indicate speed units, for example, mm / s, in a bottom portion monitor 10690, 10690 "while monitor 10690 'shown in Figure 32 includes an alphanumeric character 10694' to indicate the units of speed, for example, mm / s, in an upper portion of monitor 10690".
[00183] [00183] In addition, the speed symbols 10692, 10692 ", 10692" additionally comprise a filled or shaded circle icon 10696, 10696 ', 10696 "with one or more white arrows to indicate the control speed, so that, for example, one arrow refers to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. As the speed increases or decreases the filled or shaded region 10706, 10706, 10706 " correspondingly increases and decreases. The status bar 10708, 10708, 10708 "at the bottom of the monitor 10690, 10690 ', 10690" indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the example shown in Figure 31, the status bar 10708 indicates a precautionary operation. In the examples shown in Figures 32 and 33, the bars 10708 ', 10708 "indicate normal operation. In one aspect, the fill or shade color of the speed region 10706, 10706, 10706" can be the same as the fill or shade color status bar 10708, 10708 ", 10708" to indicate normal or precautionary operating modes.
[00184] [00184] As shown in Figure 31, the actual speed is average (-12 mm / s), as indicated by the shaded region 10706, as the command speed is defined as fast, as indicated by the three arrows in the circle icon 10696. As noted earlier, alphanumeric characters 10704 "7" and "12" include a cutout. As shown in Figure 32, the actual speed is slow (-7 mm / s), as indicated by the shaded region 10706, and the drive speed is set to low as indicated by the single arrow in the 10696 circle icon. As shown in Figure 33, the actual speed is also slow (-2 mm / s), as indicated by the shaded region 10706, and the control speed is set to low, as indicated by the single arrow in the 10696 "circle icon.
[00185] [00185] Figures 34 to 36 illustrate several monitors 10720, 10720 representing various speed feedback screens, in accordance with an aspect of the present description. Monitor 10720, 10720 represents a graphic image of the clamp cartridge of a 10732 end actuator. Monitor 10720, 10720 'comprises speed symbols 10722, 10722' to indicate the control speed as well as the actual speed of the travel member ( for example, of the beam with i 2514 profile) during the firing cycle. In one aspect, the speed symbols 10722, 10722 'comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 34 to 36. The one or more shapes of the speed symbols 10722, 10722' they may include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10722, 10722 may comprise an arcuate graphic 10728, 10728 'comprising multiple graduations 10736 to indicate the actual speed from 0 to 30 mm / s, for example. The alphanumeric characters 10734 (0, 7, 12 and 30) are arranged around the perimeter of the arched graph 10728, 10728 'to indicate the actual speed through a filled or shaded region 10736. Monitor 10720 shown in Figure 34 is a slightly modified from monitor 10720 'shown in Figures 35 and 36. For example, arcuate graphic 10728 of monitor 10720 shown in Figure 34 includes cutouts around alphanumeric characters 10734 (7 and 12), for example.
[00186] [00186] In addition, the speed symbols 10722, 10722 additionally comprise a transparent or white circle icon 10726 with one or more black or shaded arrows to indicate the control speed, so that, for example, an arrow refers to the slow or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. An additional alphanumeric character 10724 indicates the speed units, for example, mm / s. As the speed increases or decreases, the shaded region 10736 increases and decreases accordingly. The status bar 10738 at the bottom of the monitor 10720, 10720 'indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 34 to 36, status bar 10738 indicates normal operation. In one aspect, the fill or shade color of the 10736 speed region can be the same as the fill or shade color of the 10738 status bar to indicate normal or precautionary modes of operation.
[00187] [00187] As shown in Figure 34, the actual speed is medium to fast (-12 mm / s), as indicated by the shaded region 10736, and the command speed is set to high, as indicated by the three arrows in the circle icon 10726. As noted earlier, the alphanumeric characters 10734 "7" and "12" include a clipping. As shown in Figure 35, the actual speed is fast (-30 mm / s), as indicated by the shaded region 10736, and the drive speed is set to high, as indicated by the three arrows in the circle icon 10726. As shown in Figure 36, the actual speed is average (-10 mm / s), as indicated by the shaded region 10736, and the command speed is set to average, as indicated by the three arrows in the circle icon 10726.
[00188] [00188] Figures 37 to 39 illustrate several monitors 10740, 10740 ", 10740" representing various speed feedback screens, in accordance with an aspect of the present description. Monitor 10740, 10740 ', 10740 "represents a graphic image of the clamp cartridge of an end actuator 10752, 10752', 10752". Monitor 10740, 10740 ', 10740 "comprises speed symbols 10742, 10742, 10742" to indicate the control speed as well as the actual speed of the displacement member (for example, of the beam with i 2514 profile) during the shooting. In one aspect, the speed symbols 10742, 10742, 10742 "comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 37 to 39. The one or more shapes of the speed symbols 10742, 10742, 10742 "may include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10742 10742, 10742 "can comprise an arcuate graphic 10748, 10748 ', 10748" comprising multiple graduations 10750, 10750, 10750 "to indicate the actual speed from 0 to 30 mm / s,
[00189] [00189] In addition, the speed symbols 10742, 10742, 10742 "additionally comprise a transparent or white circle icon 10746, 10746, 10746" with one or more black or shaded arrows to indicate the control speed, so that, for example, one arrow refers to low or slow speed, two arrows refer to medium speed and three arrows refer to high or fast speed. As the speed increases or decreases the filled or shaded region 10756, 10756 ', 10756 "correspondingly increases and decreases. The status bar 10758, 10758', 10758" at the bottom of the monitor 10740, 10740 ', 10740 " indicates the operating status as normal (for example, green) or precaution (for example, yellow) In the example shown in Figure 37, the status bar 10758 indicates a precautionary operation.
[00190] [00190] As shown in Figure 37, the actual speed is fast (-12 mm / s), as indicated by the shaded region 10756, and the command speed is set to high, as indicated by the three arrows in the circle icon 10726. As noted earlier, the alphanumeric characters 10734 "7" and "12" include a cutout. As shown in Figure 38, the actual speed is slow (-7 mm / s), as indicated by the shaded region 10756, and the drive speed is set to low, as indicated by the single arrow on the 10746 "circle icon. As shown in Figure 39, the actual speed is slow (-2 mm / s), as indicated by the shaded region 10756, and the drive speed is set to low, as indicated by the single arrow on the 10746 "circle icon.
[00191] [00191] Figures 40 to 42 illustrate several monitors 10760 representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10760 represents a graphic image of staple cartridge 10772. Monitor 10760 comprises speed symbols 10762 to indicate the control speed as well as the actual speed of the displacement member (for example, the beam with i 2514 profile). In one aspect, the speed symbols 10762 comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 40 to 42. The one or more shapes of the speed symbols 10762 may include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, speed symbols 10762 may comprise a rectangular zone 10778 that is filled or shaded to indicate the actual speed value. Control circuit 2510 causes monitor 10760 to indicate the zone in which the speed drops, as determined by control circuit 2510, as discussed above. The rectangular zone 10778 can comprise graduations or marks to provide more resolution of the control speed of the i-beam member 2514. In addition, the speed symbols 10762 may include an icon that 10766 comprises an alphanumeric character located within an element geometric to represent an automatic or manual mode of operation. In the illustrated examples, the mode is set to automatic "A" and the control speed is set to a range of 7 to 12 mm / s. Thus, the Automatic icon 10766 is located between the range in which the actual speed may vary. A filled or shaded region 10770 indicates the range in which the actual speed can vary, for example, 7 to 12 mm / s. A 10764 bar graph indicates the actual speed of the displacement member. The 10776 status bar at the bottom of monitor 10760 indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 40 to 42, the status bar 10776 indicates normal operation. In one aspect, the fill or shade color of the filled or shaded region 10770 can be the same as the fill or shade color of the 10776 status bar to indicate normal or precautionary modes of operation. An additional alphanumeric character 10762 indicates the speed units, for example, mm / s. Additional alphanumeric characters 10768 indicate the command speed range (for example, 0 to 7, 7a12,12a30).
[00192] [00192] “As shown in Figure 40, the automatic control speed icon" A "10766 is located between 7 and 12mm / s and the actual speed, as indicated by bar graph 10764, is located towards the upper end of the defined range. As shown in Figure 41, the actual speed is located towards the bottom of the defined range of 7 to 12 mm / s, as indicated by bar graph 10764. As shown in Figure 42, the actual speed is slow, as indicated by the 10764 bar chart element and the automatic range is 0 to 7 mm / s, as indicated by the position of the 10766 icon.
[00193] [00193] Figures 43 to 45 illustrate a monitor 10780 representing a speed feedback screen, according to an aspect of the present description. Monitor 10780 represents a graphic image of the clamp cartridge of a 10792 end actuator. Monitor 10780 comprises speed symbols 10782 to indicate the control speed as well as the actual speed of the displacement member (for example, the beam with profile in i 2514). In one aspect, speed symbols 10782 comprise a shape or series of shapes that are filled or shaded in proportion to speed, as shown in Figures 43 to 45. The one or more shapes of speed symbols 10782 may include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, speed symbols 10782 may comprise rectangular element 10798 that is filled in or shaded to indicate the actual speed value. Control circuit 2510 causes monitor 10780 to indicate the zone in which the speed drops, as determined by control circuit 2510, as discussed above. The rectangular element 10798 may comprise graduations or marks to provide more resolution of the control speed of the beam element with an i 2514 profile. In addition, the speed symbols 10782 may include an icon that 10786 comprises an alphanumeric character located within an element geometric to represent an automatic or manual mode of operation. In the illustrated examples, the mode is defined as manual "M" and the control speed is defined in a range of 7 to 12 mm / s. The 10786 icon is connected to a 10792 bar that indicates the midpoint of the range in the 10798 rectangular element. Thus, the 10786 icon is located between the range over which the actual speed may vary. A filled or shaded region 10790 indicates the range over which the actual speed can vary, for example, 7 to 12 mm / s. A 10784 bar chart element indicates the actual speed of the displacement member. The 10796 status bar at the bottom of monitor 10780 indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 43 and 44, the status bar 10796 indicates normal operation and, as indicated in Figure 45, the status bar 10796 indicates the status as a precaution. In one example, the precautionary state can be adjusted because the actual speed, as indicated by the bar chart element 10784, is well below the defined range of 12 to 30 mm / s, which could indicate that the cutting element has encountered thicker fabric than expected. In one aspect, the fill or shade color of the filled or shaded region 10790 can be the same as the fill or shade color of the 10796 status bar to indicate normal or precautionary modes of operation. An additional alphanumeric character 10794 indicates the speed units, for example, mm / s. Additional alphanumeric characters 10788 indicate the command speed range (for example, 0 to 7, 7 to 12, 12 to 30).
[00194] [00194] As shown in Figure 43, the manually operated speed range icon "M" 10786 is located between 7 and 12 mm / s and the actual speed is indicated by the bar chart element 10784 as being within the range defined just above bar 10792. As shown in Figure 44, the actual speed is within the defined range of
[00195] [00195] Figures 46 to 48 illustrate a monitor 10800 representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10800 represents a graphic image of the staple cartridge of a 10812 end actuator. Monitor 10800 comprises speed symbols 10802 to indicate the control speed as well as the actual speed of the displacement member (for example, the beam with profile in i 2514). In one aspect, the speed symbols 10802 comprise a shape or series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 46 to 48. The one or more shapes of the speed symbols 10802 can include, for example, a rectangular shape or any other suitable geometric shape. In one aspect, the speed symbols 10802 may comprise a rectangular element 10814 which is divided into two smaller rectangular elements 10804, 10806. The lower element 10804 indicates the command speed or the "defined" speed (for example, mm / s) and the upper element 10806 indicates the actual speed (for example, 25 mm / s). An additional alphanumeric character 10808 indicates speed units, for example, mm / s. The 10810 status bar at the bottom of the 10800 monitor indicates the operating status as normal (for example, green) or precaution (for example, yellow). In the examples shown in Figures 46 and 47, the status bar 10810 indicates normal operation and, as shown in Figure 48, the status bar 10810 indicates the status as a precaution. In an example, the precautionary state can be defined because the actual speed of 6 mm / s, as indicated by the upper rectangular element 10806, is well below the defined command speed of 12 mm / s, which could indicate that the element cutter found thicker fabric than expected.
[00196] [00196] As shown in Figure 46, the control speed is set at 30 mm / s, as indicated by the lower rectangular element 1084, and the actual speed is 25 mm / s, as indicated by the upper rectangular element 10806. As illustrated in Figure 47, the control speed is set to 12 mm / s, as indicated by the lower rectangular element 1084, and the actual speed is 11 mm / s, as indicated by the upper rectangular element 10806. As shown in Figure 48, the Command speed is set at 12 mm / s, as indicated by the lower rectangular element 1084, and the actual speed is 6 mm / s, as indicated by the upper rectangular element 10806.
[00197] [00197] Figures 49 to 52 illustrate a 10820 monitor representing a speed feedback screen, in accordance with an aspect of the present description. Monitor 10820 represents a graphic image of the staple cartridge of a 10832 end actuator. Monitor 10820 comprises speed symbols 10822 to indicate the control speed as well as the actual speed of the displacement member (for example, the beam with profile in i 2514). In one aspect, the speed symbols 10632 comprise a shape or a series of shapes that are filled or shaded in proportion to the speed, as shown in Figures 49 to 52. The one or more shapes of the speed symbols 10822 may include, for example, an arcuate shape or any other suitable geometric shape. In one aspect, the speed symbols 10822 may comprise an arcuate element 10828 which is divided into three smaller elements 10836a, 10836b, 10836c. The smaller elements 10836a, 10836b, 10836c, when filled or shaded, represent the control speed range. A 10826 icon comprising an alphanumeric element enclosed in a geometric shape represents the automatic "A" or manual "M" operating mode. A 10840 needle is connected to the 10826 icon and indicates the actual speed similar to a speedometer and including 10830 graduations for higher resolution. As shown in Figure 49, the first element 10836a is shaded and represents a command speed between 0 and 7 mm / s (low). As shown in Figure 50, the second element 10836b is shaded and represents a command speed between 7 and 12 mm / s (average). As shown in Figure 51, the third element 10836c is shaded and represents a control speed between 12 and 30 mm / s (high)) An additional alphanumeric character 10824 indicates the speed units, for example, mm / s. The 10838 status bar at the bottom of the 10820 monitor indicates the operating status as normal (for example, green) or precautionary (for example, yellow). In the examples shown in Figures 49 to 51, the status bar 10838 indicates normal operation and, as shown in Figure 52, the status bar 10838 indicates the status as a precaution. In one example, the precautionary state can be set because the actual speed, as indicated by bar chart element 10840, is above the command speed range indicated in the first element 10836a, which could indicate that the cutting element has encountered thinner fabric than expected.
[00198] [00198] As shown in Figure 49, the control speed is set in a low range of 0 to 7 mm / s, as indicated by the first element 10836a, and the actual speed is about 3.5 mm / s, as indicated by needle 10840. As shown in Figure 50, the control speed is defined in an average range of 7 to 12 mm / s, as indicated by the second element 10836b, and the actual speed is 9.5 mm / s, as indicated by needle 10840.
[00199] [00199] Figure 53 illustrates a 10860 monitor representing a battery feedback screen, according to one aspect of this description. The 10860 monitor represents a graphic image of a 10864 battery communicating an overheated 10864 battery. If the 10864 battery is in an overheated state, it may not be able to complete the trigger as requested, indicating a condition of the overheated battery. The 10860 monitor includes an icon that represents the 10868 heat, such as the sun, for example. An icon of a 10866 thermometer can also indicate the actual battery temperature
[00200] [00200] The functions or processes 10550 described here can be performed by any of the processing circuits described here, such as the control circuit 700 described in relation to
[00201] [00201] 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.
[00202] [00202] - “Generally speaking, 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.
[00203] [00203] 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" - programmable “logic devices), circuits, registers and / or software components, for example, programs, subroutines, logic and / or combinations of hardware and software components, logic gates or other integrated formats. Some aspects 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.
[00204] [00204] 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.).
[00205] [00205] The previously mentioned description of these aspects was presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form 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.
[00206] [00206] Various aspects of the subject described in this document are defined in the following numbered examples:
[00207] [00207] Example 1. Surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a monitor; a control circuit coupled to the motor and the monitor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; and wherein the control circuit is configured to: determine a speed of the displacement member through the position sensor; cause the monitor to display symbols in a way that is indicative of a mode of the surgical instrument, where the mode comprises an automatic mode and a manual mode, and causes the monitor to display a symbol indicating the speed of the displacement member, wherein a portion of the monitor occupied by the symbols corresponds to the speed of the displacement member.
[00208] [00208] Example 2. Surgical instrument, according to Example 1, in which the symbols are a first symbol, the control circuit is additionally configured to: provide a speed setpoint for the motor, the setpoint of the motor configured to cause the motor to drive the travel member at motor speed; and have the monitor display a second symbol indicating the engine setpoint speed.
[00209] [00209] “Example 3. Surgical instrument, according to Example 1 to Example 2, in which the symbols comprise a plurality of zones, each one of the plurality of zones indicative of a speed level.
[00210] [00210] Example 4. Surgical instrument, according to Example 3, in which the plurality of zones comprises a first zone indicating a low speed, a second zone indicating a medium speed and a third zone indicating a fast speed.
[00211] [00211] Example 5. Surgical instrument comprising: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a monitor; a control circuit coupled to the power source and the monitor; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; and where the control circuit is configured to: provide an engine setpoint for the engine, the engine setpoint being configured to cause the engine to drive the travel member at a speed; show a symbol on the monitor that is indicative of the speed of the travel member, where a portion of the monitor occupied by the symbols corresponds to the speed of the travel member, and show a second symbol on the monitor which is indicative of the speed of the engine setpoint .
[00212] [00212] Example 6. Surgical instrument, according to Example 5, in which the control circuit is additionally configured to cause the monitor to display a symbol mode that is indicative of a surgical instrument mode.
[00213] [00213] Example 7. Surgical instrument, according to Example 6, in which the mode comprises an automatic mode and a manual mode.
[00214] [00214] Example 8. Surgical instrument, according to Example 5, in which the control circuit is additionally configured to: show a representative image of the displacement member; and showing the progress of the representative image of the displacement member as the displacement member advances distally.
[00215] [00215] Example 9. Surgical instrument, according to Example to Example 8, in which the control circuit is additionally configured to cause the monitor to display a second symbol indicating the speed of the motor set point, in which the second symbol represents a speed range from the engine setpoint.
[00216] [00216] Example 10. Surgical instrument, according to Example 5 to Example 9, in which the control circuit is additionally configured to show a status bar that represents the operating status of the surgical instrument.
[00217] [00217] Example 11. Surgical instrument, according to Example 10, in which the status bar represents normal operation when the speed of the displacement member is within a range of motor setpoint speeds.
[00218] [00218] Example 12. Surgical instrument, according to Example to Example 11, in which the status bar represents the precautionary operation when the speed of the displacement member is outside a range of motor setpoint speeds.
[00219] [00219] Example 13. Surgical instrument, according to Example 5 to Example 12, in which the control circuit is additionally configured to: monitor a battery condition; and having the monitor display an image of a battery indicative of the battery's condition.
[00220] [00220] Example 14. Operating method of a surgical instrument, the surgical instrument comprising a displacement member configured to move within the surgical instrument, a motor coupled to the displacement member to move the displacement member, a monitor, a circuit control coupled to the motor and the monitor, a position sensor coupled to the control circuit, the position sensor configured to monitor a position of the displacement member, in which the method comprises: determining, through the control circuit, a speed of the displacement member through the position sensor; and display, through the control circuit, a symbol on the monitor that is indicative of the speed of the displacement member, in which a portion of the monitor occupied by the symbols corresponds to the speed of the displacement member and in which the symbol representing a higher speed high is greater than the symbol representing a lower speed.
[00221] [00221] Example 15. Surgical instrument, according to Example 14, in which the symbols are a first symbol, the method additionally comprises: providing, through the control circuit, a speed adjustment point for the motor, the engine setpoint configured to cause the engine to drive the travel member at engine speed; and display, through the control circuit, a second symbol on the monitor that is indicative of the engine setpoint speed.
[00222] [00222] Example 16. Method, according to Example 14 to Example 15, which further comprises displaying, through the control circuit, on the monitor, symbols in a way that is indicative of a mode of the surgical instrument.
[00223] [00223] Example 17. Method, according to Example 16, which further comprises presenting, through the control circuit, on the monitor, a mode comprising an automatic mode and a manual mode.
[00224] [00224] Example 18. Method, according to Example 14 to Example 17, which further comprises displaying, through the control circuit, on the monitor, a symbol comprising a plurality of zones, each within the plurality of indicative zones of a speed level.
[00225] [00225] Example 19. Method, according to Example 18, which further comprises presenting, through the control circuit, on the monitor, a plurality of zones comprising a first zone indicating a low speed, a second zone indicating an average speed and a third zone indicating a fast speed.
[00226] [00226] Example 20. Method, according to Example 14 to Example 19, which further comprises determining, by means of the control circuit, a condition of a battery; and present, through the control circuit, on the monitor, an image of a battery indicating the battery condition.

权利要求:
Claims (20)
[1]
1. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move inside the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; and wherein the control circuit is configured to: determine a speed of the displacement member through the position sensor; causing the monitor to display a symbol that is indicative of a mode of the surgical instrument, wherein the mode comprises an automatic mode and a manual mode; and causing the monitor to display a symbol that is indicative of the speed of the displacement member, wherein a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the symbol is a first symbol, the control circuit is additionally configured to: provide a setpoint speed for the engine, being the setpoint of the motor configured to cause the motor to drive the travel member at motor speed; and have the monitor display a second symbol indicating the engine setpoint speed.
[3]
3. Surgical instrument, according to claim 1,
characterized by the fact that the symbol comprises a plurality of zones, each of the plurality of zones indicative of a speed level.
[4]
4, Surgical instrument, according to claim 3, characterized in that the plurality of zones comprises a first zone indicating a low speed, a second zone indicating a medium speed and a third zone indicating a fast speed.
[5]
5. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move inside the surgical instrument; a motor coupled to the displacement member to transfer the displacement member; a control circuit coupled to the engine; a position sensor coupled to the control circuit, the position sensor being configured to monitor the position of the displacement member; and the control circuit being configured to: provide an engine setpoint for the engine, the engine setpoint being configured to cause the engine to drive the travel member at a speed; showing a symbol on the monitor that is indicative of the speed of the displacement member, where a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member; and show a second symbol on the monitor that is indicative of the engine setpoint speed.
[6]
6. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is additionally configured to cause the monitor to display a symbol that is indicative of a mode of the surgical instrument.
[7]
7. Surgical instrument, according to claim 6, characterized by the fact that the mode comprises an automatic mode and a manual mode.
[8]
8. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is configured to: show a representative image of the displacement member; and showing the progress of the representative image of the displacement member as the displacement member advances distally.
[9]
9. Surgical instrument, according to claim 5, characterized by the fact that the second symbol represents a range of motor setpoint speeds.
[10]
10. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is additionally configured to show a status bar that represents the operating status of the surgical instrument.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the status bar represents normal operation when the speed of the displacement member is within a speed range of the engine setpoint.
[12]
12. Surgical instrument, according to claim 10, characterized by the fact that the status bar represents the precautionary operation when the speed of the displacement member is outside a range of motor setpoint speeds.
[13]
13. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is configured to: monitor a battery condition; and having the monitor display an image of a battery indicative of the battery's condition.
[14]
14. Method of operation of a surgical instrument, the surgical instrument being characterized by the fact that it comprises a displacement member configured to transfer within the surgical instrument, a motor coupled to the displacement member to transfer the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, the position sensor configured to monitor a position of the displacement member, the method comprising: determining, through the control circuit, a velocity of the displacement member through the sensor of position; and display, through the control circuit, a symbol on the monitor that is indicative of the speed of the displacement member, in which a portion of the monitor occupied by the symbol corresponds to the speed of the displacement member and in which the symbol representing a higher speed high is greater than the symbol representing a lower speed.
[15]
15. Method, according to claim 14, in which the symbol is a first symbol, the method being characterized by the fact that it additionally comprises: providing, through the control circuit, a setpoint speed for the motor, being the engine setpoint configured to cause the engine to drive the travel member at engine speed; and display, through the control circuit, a second symbol on the monitor that is indicative of the engine setpoint speed.
[16]
16. Method, according to claim 14, characterized by the fact that it additionally comprises displaying, through the control circuit, a symbol on the monitor that is indicative of a mode of the surgical instrument.
[17]
17. Method, according to claim 16, characterized by the fact that it further comprises presenting, through the control circuit, on the monitor, a mode comprising an automatic mode and a manual mode.
[18]
18. Method, according to claim 14, characterized by the fact that it additionally comprises displaying, through the control circuit, on the monitor, a symbol comprising a plurality of zones, each one of the plurality of zones indicative of a level of speed.
[19]
19. Method, according to claim 18, characterized by the fact that it additionally comprises displaying, through the control circuit, on the monitor, a plurality of zones comprising a first zone indicating a low speed, a second zone indicative of an average speed and a third zone indicating a fast speed.
[20]
20. Method, according to claim 14, characterized by the fact that it additionally comprises: monitoring, through the control circuit, a condition of a battery; and present, through the control circuit, on the monitor, an image of a battery indicating the battery condition.

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同族专利:

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公开号 | 公开日

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EP3417805A1|2018-12-26|

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US20180360444A1|2018-12-20|

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WO2018234895A1|2018-12-27|

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JP2020524047A|2020-08-13|

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US10368864B2|2019-08-06|

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CN110769757A|2020-02-07|

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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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US15/628,029|US10368864B2|2017-06-20|2017-06-20|Systems and methods for controlling displaying motor velocity for a surgical instrument|

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US15/628,029|2017-06-20|

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PCT/IB2018/053500|WO2018234895A1|2017-06-20|2018-05-17|Systems and methods for controlling displaying motor velocity for a surgical instrument|

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