systems and methods for controlling engine speed according to a user action for a surgical instrumen

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 screen and a control circuit attached to the motor and screen. The control circuit is configured to measure the distance traveled by the displacement member over a predetermined period of time, causing the screen to display symbols of the selection menu that are indicative of a speed mode, to receive a user action corresponding to the speed mode and adjust the speed of the displacement limb motor based on the distance traveled by the displacement limb over the predetermined period of time and user action.
公开号:BR112019027281A2
申请号:R112019027281-0
申请日:2018-05-17
公开日:2020-07-14
发明作者:Jason L. Harris；Frederick E. Shelton Iv；David C. Yates；Douglas E. Withers；Shane R. Adams
申请人:Ethicon Llc；
IPC主号:

专利说明:

[0001] [0001] The present invention relates to surgical instruments and, in various circumstances, surgical instruments for stapling and cutting, and staple cartridges for them, which are designed for stapling and cutting fabrics. BACKGROUND OF THE INVENTION
[0002] [0002] 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 articulation speed than the standard articulation speed in one or more regions within a sweep range of the end actuator.
[0003] [0003] When using a motorized surgical cutting and stapling instrument, it is possible that the user does not know the control speed or the actual speed of the cutting or firing member. Therefore, it may be desirable to provide the user with the ability to control the trigger speed through manual selection. It may be desirable to provide a surgical instrument with a first trigger condition that is defined by the surgical instrument based on a measurement of the distance traveled by the cutting member or the trigger member and a time element and a second trigger condition that is predetermined by the user. SUMMARY OF THE INVENTION
[0004] [0004] 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 and a control circuit coupled to the motor. The motor is configured to move the displacement member at a speed, where the speed is defined by a speed mode. The surgical instrument also includes a screen. The control circuit is configured to cause the displacement member to translate over a first distance, to determine a first period of time necessary for the displacement member to translate over a first distance, to cause the screen display symbols from a selection menu that are indicative of the speed mode, in which the displayed selection menu symbols are limited by the first distance and the first period of time, receiving a user action corresponding to the speed mode and adjust the speed of the displacement limb motor based on user action.
[0005] [0005] In another aspect, the surgical instrument comprises a displacement member configured to move within the surgical instrument, a motor coupled to the displacement member.
[0006] [0006] 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 to a speed, a control circuit coupled to the motor and a screen. The method comprises making, through the control circuit, the displacement member to cross a first distance, measuring, through the control circuit, a first period of time necessary for the displacement member to translate along a first distance, display, through the control circuit, a symbol on the screen that is indicative of a speed mode for the travel member, in which the displayed symbols are limited by the first distance and the first period of time, receive, through the control circuit, a user action that corresponds to the speed mode, and establish, through the control circuit, the motor speed based on the user's action. FIGURES
[0007] [0007] 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.
[0008] [0008] 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.
[0009] [0009] Figure 2 is an exploded view of a portion of the surgical instrument of Figure 1, in accordance with an aspect of the present description.
[0010] [0010] Figure 3 is an exploded assembled view of portions of the interchangeable drive shaft assembly, in accordance with an aspect of the present description.
[0011] [0011] Figure 4 is an exploded view of an end actuator of the surgical instrument of Figure 1, according to an aspect of the present description.
[0012] [0012] Figures 5A and 5B are a block diagram of a control circuit for the surgical instrument of Figure 1, which comprises two drawing sheets, according to one aspect of the present description.
[0013] [0013] Figure 6 is a block diagram of the control circuit of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly and the feeding assembly and the handle assembly and the interchangeable drive shaft assembly. according to one aspect of the present description.
[0014] [0014] Figure 7 illustrates a control circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0015] [0015] Figure 8 illustrates a combinational logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0016] [0016] Figure 9 illustrates a sequential logic circuit configured to control aspects of the surgical instrument of Figure 1, according to an aspect of the present description.
[0017] [0017] Figure 10 is a diagram of an absolute positioning system for the surgical instrument of Figure 1, in which the absolute positioning system comprises a motor-controlled drive circuit arrangement comprising a sensor arrangement, according to one aspect of the present description.
[0018] [0018] Figure 11 is an exploded perspective view of the sensor arrangement of an absolute positioning system, showing a set of control circuit board and the relative alignment of the elements of the sensor arrangement, according to a aspect of this description.
[0019] [0019] Figure 12 is a diagram of a position sensor that comprises a magnetic rotating absolute positioning system according to an aspect of the present description.
[0020] [0020] Figure 13 is a sectional view of an end actuator of the surgical instrument of Figure 1, showing a course of the firing member in relation to the tissue trapped within the end actuator according to an aspect of the present description. .
[0021] [0021] Figure 14 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description.
[0022] [0022] Figure 15 illustrates a diagram showing two examples of displacement member courses performed in accordance with an aspect of the present description.
[0023] [0023] Figure 16 is a perspective view of a surgical instrument according to an aspect of this description.
[0024] [0024] Figure 17 is a detailed view of a screen portion of the surgical instrument shown in Figure 16, according to an aspect of this 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 screen, according to an aspect of the present description.
[0026] [0026] Figure 19 is a screen that represents a speed feedback display, according to one aspect of the present description.
[0027] [0027] Figure 20 is a screen that represents a speed feedback display, according to an aspect of the present description.
[0028] [0028] Figure 21 is a key located in the surgical instrument compartment shown in Figure 16.
[0029] [0029] Figure 22 is a graph that represents several ways the screen highlights the selection menu options.
[0030] [0030] Figure 23 is a screen that represents a speed feedback display indicative of a quick manual mode according to one aspect of this description.
[0031] [0031] Figure 24 is a screen that represents an indicative speed feedback display in a quick manual mode, according to one aspect of the present description.
[0032] [0032] Figure 25 is a screen that represents an indicative speed feedback display in a quick manual mode, according to one aspect of the present description. DESCRIPTION
[0033] [0033] The applicant for the present application holds the following patent applications filed simultaneously with the same and which are each incorporated in this document as a reference in their respective totalities:
[0034] [0034] Attorney document number END8191USNP / 170054, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, by the inventors Frederick E. Shelton, IV et al., Filed on 20 June 2017.
[0035] [0035] 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.
[0036] [0036] Attorney Document No. END8193USNP / 170056, entitled Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0037] [0037] Attorney Document No. END8194USNP / 170057, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT MENTAL TO ARTICULATION ANGLE OF END EFFECTOR, by the inventors Frederick E. Shelton, IV et al. , filed on June 2017.
[0038] [0038] Attorney Document No. END8195USNP / 170058, entitled SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUENT, by the inventors Frederick E. Shelton, IV et al., Filed on June 20, 2017.
[0039] [0039] 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.
[0040] [0040] Attorney's document number END8197USNP / 170060, entitled SYSTEMS AND METHODS FOR CONTROLLING VELO-
[0041] [0041] Attorney document number END8198USNP / 170061, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLA- CEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Filed on 20 June 2017.
[0042] [0042] Attorney Document No. END8222USNP / 170125, entitled CONTROL OF MOTOR VELOCITY OF A SURGICAL STA- PLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION, by the inventors Frederick E. Shelton, IV et al., Filed on 20 June 2017.
[0043] [0043] Attorney document number END8199USNP / 170062M, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, by the inventors Frederick E. Shelton, IV et al., Deposited on 20 June 2017.
[0044] [0044] Attorney Document No. END8275USNP / 170185M, entitled TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRU- MENT, by inventors Raymond E. Parfett et al., Filed on June 20, 2017.
[0045] [0045] Attorney's document number END8268USNP / 170186,
[0046] [0046] Attorney document number END8276USNP / 170187, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0047] [0047] Attorney document number END8266USNP / 170188, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0048] [0048] Attorney document number END8267USNP / 170189, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0049] [0049] Attorney Document No. END8269USNP / 170190, entitled SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT, by Jason L. Harris et al., Filed on June 20, 2017.
[0050] [0050] Attorney document number END8271USNP / 170192, entitled CLOSED LOOP FEEDBACK CONTROL OF MOTOR VE- LOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT
[0051] [0051] The applicant for this application holds the following US design patent applications filed simultaneously with him and which are each incorporated herein by reference in their respective totalities:
[0052] [0052] 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.
[0053] [0053] Attorney Document No. END8273USDP / 170194D, entitled GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF, by the inventors Jason L. Harris et al., Filed on June 20, 2017.
[0054] [0054] 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.
[0055] [0055] 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.
[0056] [0056] The terms "proximal" and "distal" refer to a doctor manipulating the handle of the surgical instrument where "proximal" refers to the portion closest to the doctor and "distal" refers to the portion located in the most away from the doctor. For convenience, the spatial terms "vertical", "horizontal", "above" and "below" used in relation to the drawings are not intended to be limiting and / or absolute, because surgical instruments can be used in many orientations and positions.
[0057] [0057] Exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. Such devices and methods, however, can be used in other surgical procedures and applications including open surgical procedures, for example. Surgical instruments can be inserted into a natural orifice or into an incision or perforation formed in tissues. The functional portions or portions of the instrument's end actuator can be inserted directly into a patient's body or into an access device that has a working channel through which the end actuator and the elongated drive shaft of an instrument surgical can be advanced.
[0058] [0058] Figures 1 to 4 show a surgical instrument powered by motor 10 to cut and secure, which may or may not be reused. In the illustrated examples, the surgical instrument 10 includes a compartment 12 comprising a handle assembly 14 that is configured to be picked up, handled and actuated by the physician. Compartment 12 is configured for operational fixation to an interchangeable drive shaft assembly 200 that has an end actuator 300 operationally coupled to it that is configured to perform one or more surgical tasks or procedures. According to the present description, various forms of interchangeable drive shaft assemblies can be effectively used in conjunction with robotically controlled surgical systems. The term "compartment" can also encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive 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 INSUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", which is incorporated herein as a reference, in its entirety.
[0059] [0059] Figure 1 is a perspective view of a surgical instrument 10 that has an interchangeable drive shaft assembly 200 operably coupled to it, in accordance with an aspect of the present description. Enclosure 12 includes an end actuator 300 that comprises a surgical cutting and clamping device configured to operationally support a 304 surgical clamp cartridge inside. Enclosure 12 can be configured for use in conjunction with sets of interchangeable drive shafts that include end actuators that are adapted to support different sizes and types of clamp cartridges that have different lengths, sizes and types of drive shafts. Enclosure 12 can be used with a variety of interchangeable drive shaft assemblies, including assemblies configured to apply other motions and forms of energy, such as radio frequency (RF) energy, ultrasonic energy and / or movement to actuator arrangements. extremities adapted for use in conjunction with various applications and surgical procedures. End actuators, drive shaft assemblies
[0060] [0060] The handle assembly 14 can comprise a pair of interconnectable segments of the handle compartment 16 and 18 interconnected by screws, press-fit elements, adhesive, etc. The grip compartment segments 16, 18 cooperate to form a portion of the pistol grip 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.
[0061] [0061] Figure 2 is an exploded view of a portion of the surgical instrument 10 of Figure 1, in accordance with an aspect of the present description. The handle assembly 14 may include a frame 20 that operationally supports a plurality of drive systems. The frame 20 can operationally support a "first" closing drive system 30, which can apply closing and opening movements to the interchangeable drive shaft assembly 200. The closing drive system 30 can include an actuator, such as a closing trigger 32 pivotally supported by frame 20. Closing trigger 32 is pivotally coupled to the handle assembly 14 by a pivot pin 33 to enable the closing trigger to
[0062] [0062] The grip handle 14 and the frame 20 can operationally support a trigger drive system 80, which is configured to apply trigger movements to corresponding portions of the interchangeable drive shaft assembly that is attached to it . The firing drive system 80 can employ an electric motor 82 located in the pistol handle portion 19 of the handle assembly 14. Electric motor 82 can be a brushed DC DC motor having a maximum rotational speed approximately 25,000 rpm, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable electric motor. The electric motor 82 can be powered by a power source 90 which can comprise a removable battery 92. The removable battery 92 can comprise a proximal compartment portion 94 configured to be attached to a distal compartment portion 96. A the proximal compartment portion 94 and the distal compartment portion 96 are configured to operationally support a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium ion battery (LI) or other suitable battery. The portion of distal compartment 96 is configured for removable operational fixation to a control circuit board 100 that is operationally coupled to the electric motor 82. Several batteries 98 connected in series can supply the surgical instrument 10. In addition, the Power source 90 can be replaceable and / or rechargeable. A screen 43, which is located below the cover 45, is electrically coupled to the control circuit board 100. The cover 45 can be removed to expose the screen 43.
[0063] [0063] The electric motor 82 may 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 122 on a longitudinally movable drive member
[0064] [0064] In use, a voltage polarity provided by the power source 90 can operate the electric motor 82 clockwise, where the voltage polarity applied to the electric motor by the battery can be reversed to operate the electric motor 82 in the anti direction -schedule. When the electric motor 82 is rotated in one direction, the longitudinally movable drive member 120 will be axially activated in the distal direction "DD". When the electric motor 82 is driven in the opposite rotating direction, the longitudinally movable driving member 120 will be driven axially in the proximal direction "PD". The handle assembly 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power source 90. The handle assembly 14 can include a sensor configured to detect the position of the longitudinally movable drive member 120 and / or the direction in which the longitudinally movable drive member 120 is being moved.
[0065] [0065] 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 .
[0066] [0066] Returning to Figure 1, the interchangeable drive shaft assembly 200 includes an end actuator 300 that comprises an elongated channel 302 that is configured to support operatively inside a surgical staple cartridge 304. The end actuator 300 may include an anvil 306 which is pivotally supported in relation to the elongated channel 302. The drive shaft assembly 200 may comprise an articulated joint 270. The construction and operation of the end actuator end 300 and articulated joint 270 are presented in US patent application publication No. 2014/0263541, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK ", which is incorporated herein by reference in its entirety. The interchangeable drive shaft assembly 200 may include a proximal compartment or nozzle 201 comprised of nozzle portions 202,
[0067] [0067] Returning to Figure 1, the closing tube 260 is moved distally (direction "DD") to close the anvil 306, for example, in response to the actuation of the closing trigger 32 as described in the previously mentioned reference of the publication of patent application No. 2014/0263541. The anvil 306 is opened by proximal translation of the closing tube 260. In the open position of the anvil, the closing tube 260 of the drive shaft is moved to its proximal position.
[0068] [0068] Figure 3 is another exploded assembled view of portions of the interchangeable drive shaft assembly 200, according to an aspect of the description. The drive shaft assembly included
[0069] [0069] The interchangeable drive shaft assembly 200 may include a clutch assembly 400 configured to selectively and releasably couple the pivoting actuator 230 to the firing member 220. The clutch assembly 400 includes a collar or sleeve locking 402 positioned around the firing member 220, where the locking sleeve 402 can be rotated between an engaged position, where the locking sleeve 402 engages the hinge actuator 230 to the firing member 220, and a disengaged position. where the hinge actuator 230 is not operably coupled to the firing member 220. When the locking sleeve 402 is in the engaged position, the distal movement of the firing member 220 can move the hinge actuator 230 in distally and correspondingly, the proximal movement of the firing member 220 can move the hinge actuator 230 proximally. When the locking sleeve 402 is in the disengaged position, the movement of the firing member 220 is not transmitted to the hinge driver 230 and, as a result, the firing member 220 can move independently of the hinge driver 230. The nozzle 201 can be used to operatively engage and disengage the articulation drive system with the trigger drive system in the various ways described in US patent application publication No. 2014/0263541.
[0070] [0070] 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 ex-actuator
[0071] [0071] The interchangeable drive shaft assembly 200 may include a proximal portion that is fixedly 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 relative to the proximal portion around the slip ring assembly 600. The distal connector flange 601 of the slip ring assembly 600 can be positioned on the rotary drive shaft portion. distal.
[0072] [0072] Figure 4 is an exploded view of an aspect of an end actuator 300 of the surgical instrument 10 of Figure 1, according to an aspect of this description. End actuator 300 may include anvil 306 and surgical staple cartridge 304. Anvil 306 can be coupled to an elongated channel 302. Openings 199 can be defined in elongated channel 302 to receive pins 152 extending from the anvil 306 to enable the anvil 306 to rotate from an open position to a closed position in relation to the elongated channel 302 and the surgical staple cartridge
[0073] [0073] The beam with i-profile 178 may include upper pins 180 that engage the anvil 306 during firing. The i-profile beam 178 can include intermediate pins 184 and a base 186 for engaging portions of the cartridge body 194, the cartridge tray 196 and the elongated channel 302. When a surgical staple cartridge 304 is positioned inside the elongated channel 302, a slot 193 defined in the cartridge body 194 can be aligned with a longitudinal slot 197 defined in the cartridge tray 196 and a slot 189 defined in the elongated channel 302. In use, the i-beam beam 178 can slide through of the aligned longitudinal cracks 193, 197 and 189, in which, as indicated in Figure 4, the base 186 of the beam with i-profile 178 can engage in 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 long slot
[0074] [0074] Figures 5A and 5B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1, which comprises two drawing sheets, according to an aspect of the present description. Referring mainly to Figures 5A and 5B, a handle assembly 702 can include a motor 714, which can be controlled by a motor driver 715 and can be employed by the trigger system of the surgical instrument 10. In various ways, the motor 714 can be a brushed DC DC motor, having a maximum rotation speed of approximately 25,000 RPM. In other arrangements, the 714 motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor or any other suitable type of electric motor. Motor starter 715 may comprise an H bridge starter comprising field-effect transistors ("FETs" - field-effect transistors) 719, for example. The motor 714 can be powered by the supply set 706 releasably mounted to the handle set 200 to supply control energy to the surgical instrument 10. The supply set 706 may comprise a battery which may include several battery cells connected in series, which can be used as the power source to power the cyclic instrument
[0075] [0075] The drive shaft assembly 704 may include a controller of the drive shaft assembly 722 that can communicate with the safety controller and the power management controller 716 through an interface, while the assembly drive shaft 704 and the supply set 706 are coupled to the handle assembly 702. For example, the interface may comprise a first portion of interface 725, which may include one or more electrical connectors for coupling coupling with the electrical connectors of the corresponding drive shaft assembly, and a second portion of interface 727, which may include one or more electrical connectors for coupling coupling with the corresponding electrical connectors of the power supply, to enable electrical communication between the drive shaft assembly controller 722 and power management controller 716 while drive shaft assembly 704 and co power supply 706 are coupled to handle set 702. One or more communication signals can be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly 704 to the management controller 716 power supply. In response, the power management controller can modulate the battery power output of the 706 power supply set, as described in more detail below, according to the power requirements of the power supply set. fixed drive 704. The connectors can comprise switches that can be activated after coupling by
[0076] [0076] The interface can facilitate the transmission of one or more communication signals between the energy management controller 716 and the controller of the drive shaft assembly 722 by routing these communication signals through a main controller 717 resident in the grip set 702, for example. In other cases, the interface can facilitate a direct line of communication between the power management controller 716 and the drive shaft assembly controller 722 through the handle assembly 702, while the drive shaft assembly 704 and the feeding set 706 are coupled to the handle set 702.
[0077] [0077] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name of ARM Cortex from Texas Instruments. In one respect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256 KB single cycle flash memory integrated memory or other memory non-volatile, up to 40 MHz, a seek-ahead buffer to optimize performance above 40 MHz, a 32 KB serial random access memory ("SRAM"), a memory only internal read ("ROM" - read-only memory) loaded with the program StellarisWareO, electronically erasable programmable read-only memory ("EEPROM" - 2 KB), one or more memory modules pulse width modulation (PWM), one or more
[0078] [0078] 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.
[0079] [0079] The power supply 706 may include a power management circuit which may comprise the power management controller 716, a power modulator 738 and a current sensor circuit 736. The power management circuit may be configured to modulate the battery power output based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply 706 are coupled to the handle assembly 702. The power management controller 716 can be programmed to control power modulator 738 from the power output of the power supply 706, and current sensor circuit 736 can be employed to monitor the power output of the power supply 706 to provide feedback to the power management controller 716 about the battery power output, so the power management controller 716 can adjust the power output of the power supply 706 to maintain a desired output. The power management controller 716 and / or the drive shaft assembly controller 722 can each comprise one or more processors and / or memory units that can store multiple software modules.
[0080] [0080] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 that can include one or more devices to provide sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (for example, an LCD monitor, LED indicators), auditory feedback devices (for example, a speaker, a bell) or devices tactile feedback (eg haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 that may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via output device 742. The interface can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to output device 742. The device output 742 can instead be integrated into the supply set 706. In these circumstances, communication between the output device 742 and the drive shaft set 722 controller can be done via the interface, while the drive shaft assembly 704 is coupled to the handle assembly 702.
[0081] [0081] The control circuit 700 comprises segments configured to control the operations of the energized surgical instrument
[0082] [0082] The acceleration segment (Segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. The accelerometer input is used to transition to and from a suspension mode, to identify the orientation of the energized surgical instrument.
[0083] [0083] The screen segment (Segment 4) comprises a screen connector coupled to the main controller 717. The screen connector connects the main controller 717 to a screen through one or more drivers of the integrated circuits of the screen. The drivers of the integrated circuits of the screen can be integrated with the screen and / or they can be located separately from the screen. The screen may comprise any suitable screen, such as an organic light-emitting diode (OLED) screen, a liquid crystal display (LCD) and / or any other suitable screen. In some examples, the screen segment is coupled to the security processor.
[0084] [0084] The drive shaft segment (Segment 5) comprises controls for an interchangeable drive shaft set 200 (Figures 1 and 3) coupled to surgical instrument 10 (Figures 1 to 4) and / or one or more controls for an end actuator 300 coupled to the interchangeable drive shaft 200. The drive shaft segment comprises a drive shaft connector configured to couple main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low power microcontroller with ferroelectric random access memory ("FRAM" - ferroelectric random access memory), a toggle switch, a drive shaft release switch and a PCBA EEPROM. The PCBA EEPROM comprises one or more parameters, routines and / or specific programs for the interchangeable drive shaft 200 and / or for the drive shaft PCBA. The drive shaft PCBA can be coupled to the interchangeable drive shaft assembly 200 and / or integral with the surgical instrument 10. In some examples,
[0085] [0085] The position encoding segment (Segment 6) comprises one or more position encoders of rotating magnetic angles. The one or more rotary magnetic angle position encoders are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 of the surgical instrument 10 (Figures 1 to 4). In some examples, rotary magnetic angle position encoders can be coupled to the safety controller and / or the main controller 717.
[0086] [0086] The motor circuit segment (Segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 4). Motor 714 is coupled to the main microcontroller processor 717 by an H bridge driver that comprises one or more H bridge field effect transistors (FETs). The H bridge actuator is also coupled to the safety controller. A motor current sensor is connected in series to the motor to measure the current drain of the motor. The motor current sensor is in signal communication with the main controller 717 and / or with the safety controller. In some examples, the 714 motor is coupled to an electromagnetic interference (EMI) filter on the motor.
[0087] [0087] The motor controller controls a first motor signal and a second motor signal to indicate the status and position of the motor 714 to the main controller 717. The main controller
[0088] [0088] The supply segment (Segment 8) comprises a battery coupled to the safety controller, the main controller 717 and the additional segments of the circuit. The battery is coupled to the circuit segmented by a battery connector and a current sensor. The current sensor is configured to measure the total current drain from the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more segments of the circuit. For example, in some instances, the segmented circuit may comprise 3.3 V voltage converters and / or V voltage converters. A voltage amplification converter is configured to provide a voltage rise to an amount predetermined, such as up to 13 V. The voltage amplification converter is configured to supply additional voltage and / or current during operations that require a lot of energy and to avoid blackouts or low power conditions.
[0089] [0089] The plurality of keys is coupled to the safety controller and / or to the main controller 717. The keys can be configured to control operations of the surgical instrument 10 (Figures 1 to 4) of the segmented circuit and / or indicate a surgical instrument state 10. An ejection port switch and ejection Hall switch are configured to indicate the state of the ejection port. A plurality of hinge keys, such as a left hinge key for the left side, a right hinge key for the left side, a central hinge key for the left side, a key on the left side left pivot to the right side, a right pivot key to the right side and a central pivot key to the right side are configured to control the articulation of a drive shaft assembly 200 (Figures 1 and 3) and / or an end actuator 300 (Figures 1 and 4). A reverse key on the left and a reverse key on the right side are coupled to the main controller 717. The keys on the left side which comprise the key on the left pivot side for the left side, the key on the right pivot side for the left side , the central pivot switch for the left side and the reverse switch for the left side are coupled to the main controller 717 by a bending connector on the left. The keys on the right side which comprise the key on the left side of the hinge for the right side, the key on the right side of the hinge for the right side, the central key for the right side and the reverse key on the right side are. coupled to the main controller 717 by a bending connector on the right. A trip switch, a grapple release key and a key attached to the drive shaft are coupled to the main controller 717.
[0090] [0090] Any suitable mechanical, electromechanical or solid state keys can be used to implement the plurality of keys in any combination. For example, the keys can be limited keys operated by the movement of the components associated with the surgical instrument 10 (Figures 1 to 4) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device that consists of an actuator mechanically connected to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation and reliable operation. They can determine the presence or absence, the passage, the positioning and the end of an object's displacement. In other implementations, the switches can be solid state switches that work under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (MR) devices, giant magneto-resistive devices ("GMR" - giant magneto-resistive), magnetometers, among others. In other implementations, the switches can be solid state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, the switches can be solid-state devices, such as transistors (for example, FET, junction FET, metal oxide semiconductor FET ("MOSFET" - metal-oxide semiconductor-FET), bipolar and the like) . Other switches may include wireless switches, ultrasonic switches, accelerometers, inertia sensors, among others.
[0091] [0091] Figure 6 is a block diagram of the control circuit 700 of the surgical instrument of Figure 1 illustrating interfaces between the handle assembly 702 and the feeding assembly 706 and between the handle assembly 702 and the shaft assembly interchangeable drive 704, according to one aspect of the present description. The handle assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726 and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power management circuit 734 which may comprise the power management controller 716, a power modulator 738 and a current sensing circuit 736. Connectors
[0092] [0092] The surgical instrument 10 (Figures 1 to 4) can comprise an output device 742 for sensory feedback to a user. These devices may comprise visual feedback devices (for example, an LCD monitor, LED indicators), audio feedback devices (for example, a speaker, a bell) or tactile feedback devices. (for example, haptic actuators). In certain circumstances, the output device 742 may comprise a screen 743 which may be included in the handle assembly 702. The drive shaft assembly controller 722 and / or the power management controller 716 can provide feedback to a user of the surgical instrument 10 via output device 742. Interface 727 can be configured to connect the drive shaft assembly controller 722 and / or the power management controller 716 to the drive device. output 742. Output device 742 can be integrated with supply set 706. Communication between output device 742 and drive shaft assembly controller 722 can be done via interface 725 while the set of interchangeable drive shaft 704 is attached to the handle assembly 702. Having described a control circuit 700 (Figures 5A and 5B and 6) to control the operation of the surgical instrument 1 0 (Figures 1 to 4), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 4) and to the control circuit 700.
[0093] [0093] Figure 7 illustrates a control circuit 800 configured to control aspects of the surgical instrument 10 (Figures 1 to 4), according to an aspect of the present description. Control circuit 800 can be configured to implement various processes described herein. The control circuit 800 may comprise a controller comprising one or more 802 processors (for example, microprocessor, microcontroller) coupled to at least one memory circuit 804. The memory circuit 804 stores instructions executable on a machine that, when executed by the 802 processor, they cause the 802 processor to execute machine instructions to implement several of the processes described here. The 802 processor can be any one of a number of single-core or multi-core (multi-core) processors known in the art. The memory circuit 804 can comprise volatile and non-volatile storage media. The 802 processor can include an instruction processing unit 806 and an arithmetic unit 808. The instruction processing unit can be configured to receive instructions from the memory circuit
[0094] [0094] 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.
[0095] [0095] 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
[0096] [0096] Aspects can be implemented in the form of an article of manufacture. The article of manufacture may include a computer-readable storage medium arranged to store logic, instructions and / or data for performing various operations of one or more aspects. For example, the article of manufacture may comprise a magnetic disk, an optical disk, a flash memory or firmware containing computer program instructions suitable for execution by a general purpose processor or application-specific processor.
[0097] [0097] Figure 10 is a diagram of an absolute positioning system 1100 of the surgical instrument 10 (Figures 1 to 4), in which the absolute positioning system 1100 comprises an arrangement of the motor-controlled drive circuit that it comprises a sensor arrangement 1102, in accordance with an aspect of the present description. The sensor arrangement 1102 of an absolute positioning system 1100 provides a unique position signal corresponding to the location of a displacement member 1111. Back to Figures 2 to 4, in one aspect, displacement member 1111 represents the 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 reducer assembly 84. In other respects, the displacement member 1111 represents - sits the firing member 220 (Figure 3) that can be adapted and configured to include a rack of driving teeth.
[0098] [0098] The 1120 electric motor may include a rotary drive shaft 1116, which interfaces operationally with a gear set 1114, which is mounted in gear engaged with a set, or rack, of drive teeth on the drive member 1111. A sensor element 1126 can be operatively coupled to a gear assembly 1114, so that a single revolution of the sensor element 1126 corresponds to some linear longitudinal translation of the displacement member 1111. An array of gears and sensors 1118 can be connected to the linear actuator by means of a rack and pinion arrangement, or by a rotary actuator, by means of a sprocket or other connection. A power source 1129 supplies power to the absolute positioning system 1100 and an output indicator 1128 can display the output from the absolute positioning system 1100. In Figure 2, the drive member 1111 represents the longitudinally movable drive member 120 comprising a rack of drive teeth 122 formed thereon for engagement with a corresponding drive gear 86 of the gear reducer assembly 84. The displacement member 1111 represents the longitudinally movable firing member 220, the firing bar 172, the beam with i 178 profile or combinations thereof.
[0099] [0099] A single revolution of the sensor element 1126 associated with the position sensor 1112 is equivalent to a longitudinal linear displacement d1 of the displacement member 1111, where d1 is the distance
[0100] [0100] A series of keys 1122a to 1122n, where n is an integer greater than one, can be used alone or in combination with gear reduction to provide a single position signal for more than one revolution of the 1112 position sensor. The status of 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 drive member 1111. Output 1124 position sensor 1112 is supplied to controller 1104. Position sensor 1112 of the sensor arrangement 1102 may comprise a magnetic sensor, an analog rotary sensor, such as a potentiometer, or an array of analog Hall effect elements, that emit a unique combination of position of signs or values.
[0101] [0101] 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, fa-
[0102] [0102] Controller 1104 can be programmed to perform various functions such as precise control over the speed and position of the knife and articulation systems. In one aspect, controller 1104 includes a processor 1108 and a memory 1106. Electric motor 1120 can be a brushed DC motor with a gearbox and mechanical connections with a hinge or cut system. In one aspect, an 1110 motor drive can be an A3941 available from Allegro Microsystems, Inc. Other motor drives can be readily replaced for use in the 1100 absolute positioning system. A more detailed description of the positioning system absolute number 1100 is described in US patent application 15 / 130,590 entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed on April 15, 2016, the full description of which is incorporated by reference, in its entirety.
[0103] [0103] Controller 1104 can be programmed to provide precise control of the speed and position of travel member 1111 and articulation systems. Controller 1104 can be configured to compute a response in controller 1104 software. The computed response is compared to a measured response from the real system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences in the system.
[0104] [0104] The absolute positioning system 1100 can comprise and / or be programmed to implement a feedback controller, such as a PID, state feedback and adaptive controller. An 1129 power source converts the signal from the feedback controller to a physical input to the system, in this case, the voltage. Other examples include pulse width modulation (PWM) of voltage, current and force. Other 1118 sensors can be provided to measure the physical parameters of the physical system, in addition to the position measured by the 1112 position sensor. In a digital signal processing system, an 1100 absolute positioning system is coupled to a video capture system. digital data in which the output of the absolute positioning system 1100 will have a finite resolution and sampling frequency. The 1100 absolute positioning system can comprise a comparison and combination circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that trigger a calculated response towards the measured response. The computed response of the physical system takes into account properties, such as mass, inertia, viscous friction, resistance to inductance, etc., in order to predict what the states and exits of the physical system will be, knowing the input. Controller 1104 can be a control circuit 700 (Figures 5A and 5B).
[0105] [0105] The 1110 motor driver can be an A3941, available from Allegro Microsystems, Inc. The A3941 1110 driver is an entire bridge controller for use with metal oxide semiconductor (MOSFET) field effect transistors. external N-channel power, specifically designed for inductive loads, such as brushed DC motors. The 1110 actuator comprises a single charge pump regulator, which provides complete door drive (> 10 V) for batteries with voltage up to 7 V and allows the A3941 to operate with a reduced door drive, up to 5.5 V. Input command capacitor can be used to supply the voltage supplied by the above 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 operated in fast or slow drop modes using diodes or synchronized rectification. In the slow drop mode, the current can be recirculated by means of FET from the top or from the bottom. The power FETs are protected from the "shoot-through" effect by means of resistors with adjustable dead time. The integrated diagnosis provides indication of undervoltage, overtemperature and faults in the power bridge, and can be configured to protect power MOSFETs in most short-circuit conditions. Other motor controllers can be replaced immediately for use in the 1100 absolute positioning system.
[0106] [0106] 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 an array layout. sensor 1102 for the 1100 absolute positioning system. Figure 11 is an exploded perspective view of the 1102 sensor arrangement for the 1100 absolute positioning system, showing a 1205 circuit and the relative alignment of the 1102 sensor arrangement elements. , according to one aspect. The sensor arrangement 1102 of an absolute positioning system 1100 comprises a position sensor 1200, a magnet sensor element 1202, a magnet holder 1204, which rotates each full stroke of the drive member 1111 and a set of gears 1206 to provide gear reduction. With brief reference to Figure 2, the drive member 1111 may represent the longitudinally movable drive member 120 comprising a drive tooth rack 122 for engagement with a corresponding drive gear 86 of the gear reducer assembly 84 Going back to Figure 11, a structural element,
[0107] [0107] 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 magnesium resistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive / piesoelectric compounds, magnetodiode, magnetic transistor , optical fiber, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.
[0108] [0108] 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 member travel 1111 moves in a distal direction D and rotates in a second direction as travel member 1111 retracts in a proximal direction P. The second gear
[0109] [0109] The position sensor 1200 is supported by a position sensor holder 1218 that defines an aperture 1220 suitable for holding position sensor 1200 in precise alignment with a magnet 1202 that rotates inside the magnet holder 1204. The accessory river is coupled to bracket 1216 and circuit 1205 and remains stationary while magnet 1202 rotates with magnet holder
[0110] [0110] 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. Position sensor 1200 interfaces with controller 1104 to provide an absolute positioning system
[0111] [0111] The Hall effect elements 1228A, 1228B, 1228C, 1228D are located directly above the rotating magnet 1202 (Figure 11). The Hall effect is a well-known effect and for convenience it will not be described in detail here; however, in general, the Hall effect produces a voltage difference (the Hall voltage) through an electric conductor transversal 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 angle value, which is a single position signal, is calculated by the CORDIC 1236 processor and stored integrated in the ASS5055 1200 position sensor in a register or memory. The angle value that is indicative of the position of the magnet 1202 during a revolution is supplied to controller 1104 in a variety of techniques, for example, by energizing or upon demand from controller 1104.
[0112] [0112] The ASS055 1200 position sensor requires only a few external components to operate when connected to the controller
[0113] [0113] Due to the measurement principle of the ASS5055 1200 position sensor, only a single angle measurement is performed in a very short time (-600 us) after each energization sequence. As soon as an angle measurement is completed, the ASS055 1200 position sensor enters the de-energized state. There is no filter of the angle value by digital average implemented in the integrated circuit, as this would require more than one angle measurement and, consequently, a longer energization time, which is not desired in low power applications. Angle variation can be reduced by averaging multiple angle samples in the controller
[0114] [0114] Figure 13 is a sectional view of an end actuator 2502 of surgical instrument 10 (Figures 1 to 4) showing a firing stroke of the beam with an i-profile 2514 in relation to the tissue 2526 trapped inside the actuator end 2502, in accordance with an aspect of the present description. The end actuator 2502 is configured to operate the surgical instrument 10 shown in Figures 1 to 4. The end actuator 2502 comprises an anvil 2516 and an elongated channel 2503 with a staple cartridge 2518 positioned in the elongated channel 2503. A bar trigger 2520 is translatable distally and proximally along a longitudinal geometric axis 2515 of end actuator 2502. When end actuator 2502 is not pivoted, end actuator 2502 is in line with the instrument driving shaft. An i-profile beam 2514 comprising a cutting edge 2509 is shown in a distal portion of the firing bar 2520. A wedge slide 2513 is positioned on the staple cartridge 2518. As the i-profile beam 2514 moved distally, the cutting edge 2509 comes into contact and can cut the fabric 2526 positioned between the anvil 2516 and the staple cartridge 2518. In addition, the beam with i-profile 2514 comes into contact with the wedge slide 2513 and pushes it distally, causing the slide 2513 to contact the 2511 staple drivers. The 2511 staple drivers can be guided into the 2505 staples, causing the 2505 staples to advance through the fabric and to inside pockets 2507 defined on the anvil 2516, which forms the clamps 2505.
[0115] [0115] A firing stroke of the beam with 2514 exemplary i-profile is illustrated by a graphic 2529 aligned with the 2502 end actuator. The 2526 example fabric is also shown aligned with the 2502 end actuator. The stroke of the firing member 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 from the initial position of the stroke 2527 to the final position of the stroke 2528. The beam with i-profile 2514 is shown in an example location of an initial position of the stroke 2527. The 2529 stroke graph of the beam member with i 2514 profile illustrates five travel regions of the firing member 2517, 2519, 2521, 2523, 2525. In a first firing region 2517, the i-profile beam 2514 can begin to move distally. In the first region of the firing stroke 2517, the beam with i-profile 2514 can come into contact with the wedge slider 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 the static friction is overcome, the force required to driving the beam with i-profile 2514 in the first region 2517 can be substantially constant.
[0116] [0116] In the second stroke region of firing member 2519, cutting edge 2509 can start to come into contact and cut the fabric 2526. In addition, the wedge slide 2513 can start to come in contact with the clamp actuators 2511 to drive clamps 2505. The force required to drive the i-beam beam 2514 may start to gradually increase. As shown, the tissue initially found can be compressed and / or thinner due to the way the anvil 2516 rotates in relation to the staple cartridge 2518. In the third region of the travel of the firing member 2521, cutting edge 2509 can continuously come into contact contact and cut the fabric 2526, and the wedge slider 2513 can repeatedly come into contact with the 2511 clamp actuators. The force required to drive the i-profile beam 2514 can reach the plateau in the third region 2521. In the fourth region of the 2523 firing stroke, the force required to drive the beam with an i-profile 2514 may begin to decrease. For example, the fabric in the portion of the end actuator 2502 corresponding to the fourth firing region 2523 may be less compressed than the fabric closest to the pivot point of the burner 2516, requiring less force to cut. In addition, cutting edge 2509 and wedge slide 2513 can reach the end of fabric 2526 while in the fourth region 2523. When the beam with profile in | i 2514 reaches the fifth region 2525, fabric 2526 can be completed separately. The wedge slider 2513 can contact one or more clip drivers 2511 at or near the end of the fabric. The force to advance the beam with an i 2514 profile through the fifth region 2525 can be reduced and, in some examples, it may be similar to the force to drive the beam with an i 2514 profile in the first region 2517. At the conclusion of the course of the firing member, the i-profile beam 2514 can reach the final position of the stroke 2528. The positioning of the stroke regions of the firing member 2517, 2519, 2521, 2523, 2525 in Figure 13 is just an example. In some examples, different regions may start at different positions along the longitudinal geometric axis of end actuator 2515, for example, based on the positioning of the fabric between the anvil 2516 and the staple cartridge 2518.
[0117] [0117] As discussed above and with reference now to Figures 13, electric motor 1122 positioned inside the surgical instrument handle 10 (Figures 1 to 4) can be used to advance and / or retract the firing system 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 | 2514 can be advanced or retracted at a desired speed, or within a desired speed range. Controller 1104 can be configured to control the speed of | 2514. Controller 1104 can be configured to predict the speed of the rod with | 2514 based on various parameters of the energy supplied to the 1122 electric motor, such as voltage and / or current, for example, and / or other operating parameters of the 1122 electric motor or external influences. Controller 1104 can also be configured to predict the current speed of the beam with i 2514 profile based on previous values of current and / or voltage supplied to electric motor 1122 and / or previous states of the system, such as speed - speed, acceleration and / or position. Controller 1104 can be configured to detect the speed of the beam with i 2514 profile using the absolute position sensor system described here. The controller can be configured to compare the predicted speed of the rod with | 2514 and the detected speed of the rod with profile | 2514 to determine if the power of the 1122 electric motor needs to be increased in order to increase the speed of the profile rod | 2514 and / or decreased in order to decrease the speed of the rod with profile | 2514. US patent No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, is hereby incorporated by reference in its entirety. US patent no.
[0118] [0118] The force acting on the beam with an i 2514 profile can be determined using various techniques. The force on the i-beam beam 2514 can be determined by measuring the motor current 2504, where the motor current 2504 is based on the load on the i-beam beam 2514 as it advances distally. The force on the beam with i 2514 profile can be determined by placing an effort meter on the driving member 120 (Figure 2), the firing member 220 (Figure 2), the beam with i 2514 (i-beam profile 178, Figure 20), the firing bar 172 (Figure 2) and / or at a proximal end of the cutting edge
[0119] [0119] Figure 14 illustrates a block diagram of a 2500 surgical instrument programmed to control the distal translation of the displacement member according to an aspect of the present description. In one aspect, the surgical instrument 2500 is programmed to control the distal translation of a displacement member 1111, such as the beam with I-profile 2514. The surgical instrument 2500 comprises an end actuator 2502 that can comprise an anvil 2516, a beam with i-profile 2514 (which includes 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.
[0120] [0120] 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, by the 1102 sensor arrangement and by the position sensor 1200, as shown in Figures 10 to 12 and represented as position sensor 2534 in Figure 14. As the beam with i-profile 2514 is coupled to a longitudinally movable drive member 120, the position of the beam with profile in i 2514 can be determined by measuring the position of the longitudinally movable drive member 120 which employs 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 position sensor 2534, as described in the present invention. The control circuit 2510, like the control circuit 700 described in Figures 5A and 5B, can be programmed to control the translation of the displacement member 1111, such as the beam with i-profile 2514, as described in relation to Figures 10 to 12 The 2510 control circuit, in some examples, may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to control the displacement member, for example, the beam with profile in i 2514, as described. In one aspect, a timer / counter circuit 2531 provides an output signal, such as elapsed time or a digital count, to control circuit 2510 to correlate beam position with i 2514 profile 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 2514 profile at a specific time (t) in relation to an initial position . The 2531 timer / counter circuit can be configured to measure elapsed time, count external events or measure eternal events.
[0121] [0121] Control circuit 2510 can generate a 2522 motor setpoint signal. The 2522 motor setpoint signal can be supplied to a 2508 motor controller. The 2508 motor controller can comprise one or more circuits configured to provide a motor 2524 drive signal to motor 2504 to drive motor 2504, as described in the present invention. In some instances, the 2504 motor may be a brushed direct current electric motor, such as motor 82, 714, 1120 shown in Figures 1, 5B, 10. For example, the speed of the 2504 motor may be proportional to the motor 2524. In some examples, motor 2504 may be a brushless direct current (DC) electric motor, and the motor 2524 drive signal may comprise a pulse width modulation (PWM) signal supplied to a or more motor stator windings 2504. In addition, in some examples, motor controller 2508 can be omitted and control circuit 2510 can directly generate motor drive signal 2524.
[0122] [0122] The 2504 motor can receive power from a 2512 power source. The 2512 power source can be or can include a battery, a supercapacitor or any other suitable power source.
[0123] [0123] 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 parameters derived as span distance in relation to time, compression of the tissue in relation to time and deformation of the anvil in relation to time. The 2538 sensors can comprise 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 resistive sensor, a capacitive sensor, an optical sensor and / or any other sensors suitable for measuring one or more parameters of the 2502 end actuator. The 2538 sensors can include one or more sensors.
[0124] [0124] The one or more 2538 sensors may comprise a voltage meter such as, for example, a microtension meter, configured to measure the magnitude of the voltage on the 2516 anvil during a tight condition. The 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.
[0125] [0125] The 2538 sensors can be configured to measure the forces exerted on the anvil 2516 by the closing drive system 30. For example, one or more 2538 sensors can be at a point of interaction between the closing tube 260 (Fig. 3) and the anvil 2516 to detect the closing forces applied by the closing tube 260 to the anvil 2516. The forces exerted on the anvil 2516 can be representative of the tissue compression experienced by the section of tissue captured between the anvil 2516 and the staple cartridge 2518. The one or more 2538 sensors can be positioned at various points of interaction along the closing drive system 30 (Figure 2) to detect the closing forces applied to the 2516 anvil by the drive system. closing 30. The one or more 2538 sensors can be sampled in real time during a gripping operation by a processor, as described in Figures 5A and 5B. The 2510 control circuit receives sample measurements in real time to provide and analyze information based on time and evaluate, in real time, the closing forces applied to the 2516 anvil.
[0126] [0126] 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 2514 profile corresponds to the current drained by the 2504 motor. The force is converted into a digital signal and supplied to control circuit 2510.
[0127] [0127] 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 actual system response of the instrument in the software controller. A displacement member can be actuated to move an i-profile beam 2514 on end actuator 2502 at or near a target speed. The 2500 surgical instrument may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, LOR and / or a controller.
[0128] [0128] The actual drive system of the 2500 surgical instrument is configured to drive the displacement member, cutting member or beam with i 2514 profile, by a brushed DC motor with gearbox and mechanical connections to a hinge system and / or a 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.
[0129] [0129] Before explaining in detail the aspects of the 2500 surgical instrument, it should be noted that the exemplifying aspects are not limited, in terms of application or use, to the details of construction and arrangement of parts illustrated in the drawings and in the description attached. The exemplifying aspects can be implemented or incorporated into other aspects, variations and modifications, and can be practiced or executed in several ways. In addition, except where otherwise indicated, the terms and expressions used in the present invention were chosen for the purpose of describing the exemplifying aspects for the convenience of the reader and not for the purpose of limiting it. In addition, it should be understood that one or more of the aspects, expressions of aspects and / or examples described below can be combined with any one or more of the other aspects, expressions of aspects and / or examples described below.
[0130] [0130] Several exemplifying aspects are directed to a 2500 surgical instrument that includes a 2502 end actuator with motor-driven surgical stapling and cutting implements. For example, a 2504 motor can drive a displacement member distally and proximally along a longitudinal geometric axis of end actuator 2502. End actuator 2502 can comprise a 2516 pivoting anvil and, when configured for use, a staple cartridge 2518 positioned opposite the anvil 2516. A doctor can hold the tissue between the anvil 2516 and the staple cartridge 2518, as described in the present invention. When ready to use the 2500 instrument, the physician can provide a trigger signal, for example, by pressing a trigger on the 2500 instrument. In response to the trigger signal, motor 2504 can drive the displacement member distally along the longitudinal geometric axis of the end actuator 2502 from a proximal start position to an end position distal from the start position. As the displacement member moves distally, 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.
[0131] [0131] In several examples, the 2500 surgical instrument may comprise a 2510 control circuit programmed to control the distal translation of the displacement member, such as the beam with i 2514 profile, for example, based on one or more conditions of the fabric. The 2510 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness,
[0132] [0132] In some examples, control circuit 2510 may initially operate motor 2504 in an open circuit configuration for a first open circuit portion of the travel of the travel member. Based on a response from the 2500 instrument during the open circuit portion of the stroke, the 2510 control circuit can select a trip control program. The response of the instrument may include a travel distance of the displacement member during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to the motor 2504 during the open circuit portion, a sum of pulse widths a motor start signal, etc. After the open circuit portion, control circuit 2510 can implement the selected trigger control program for a second portion of the travel member travel. For example, during the closed circuit portion of the stroke, control circuit 2510 can modulate motor 2504, based on translation data that describes a position of the displacement member in a closed circuit manner, to translate the member travel at a constant speed.
[0133] [0133] 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 geometric axis 2584 indicates elapsed time. A vertical axis 2582 indicates the position of the i-profile beam 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 to provide 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 to and t1.
[0134] [0134] A first example 2592 shows a response from the surgical instrument 2500 when the thick tissue is positioned between the anvil 2516 and the staple cartridge 2518. During the open loop portion of the displacement limb course, for example , the initial period of time between to and t1, the i-profile beam 2514 can traverse from the initial position of the 2586 course to the 2594 position. The control circuit 2510 can determine that position 2594 corresponds to a control program shot 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 2510 control circuit can drive the beam with i-profile 2514 to Vlenta speed by monitoring the position of the beam with i-profile 2514 and modulation of the motor setpoint 2522 and / or the drive signal of the 2524 engine to maintain the 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.
[0135] [0135] During the initial time period (for example, the open circuit period) between to and t1, the beam with i 2514 profile can attract
[0136] [0136] The description now turns to a closed loop feedback system to control the motor speed based on a variety of conditions. The closed loop feedback system executed via the 2510 control circuit can be configured to implement a pattern, for example, preprogrammed, a trigger condition or a user selected trigger condition. The trigger condition selected by the user can be selected during the open circuit portion or, otherwise, before the closed circuit portion of the travel stroke. In one aspect, the user-selected trigger condition is configured to cancel the execution of the standard or pre-programmed trigger condition.
[0137] [0137] Now returning to Figure 16, a perspective view of a 10500 surgical instrument is shown according to an aspect of the present description. In one aspect, a 10500 surgical instrument comprising a 10504 end actuator connected by means of a 10503 drive shaft to a pusher assembly
[0138] [0138] In the discussion presented below, reference should also be made to Figure 14. Screen 10506 is operationally coupled to control circuit 2510 so that control circuit 2510 can cause screen 10506 to show various information associated with operation of instrument 10500, as information determined by and from position sensor 2534, current sensor 2536 and / or other sensors 2538. In one aspect, screen 10506 can be configured to display the speed at which the beam with i 2514 profile is set to be translated by motor 2504, that is, a control speed, and / or the actual speed at which the i 2514 profile beam is being translated. The control speed is the set, target or desired speed. The control speed at which the beam with i 2514 profile must be transferred can be determined by receiving the motor set point, which dictates the speed at which the 2504 motor drives the beam with i 2514 profile, dictated by the motor 2524 start signal from the motor control 2508, or by storing the motor start signal 2524 that is provided to the motor control 2508 in a memory for subsequent recovery. The actual speed at which the beam with i 2514 profile, or another component of the trigger drive system, is being transferred 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 control circuit 2510 via input from timer / counter 2531.
[0139] [0139] In several aspects, the screen 10506 of the surgical instrument 10500 can be positioned directly on the outside of the
[0140] [0140] Figure 17 is a detailed view of a screen portion 10506 of surgical instrument 10500 shown in Figure 16, according to an aspect of the present description. Screen 10506 includes an LCD screen 10516 for communicating speed control, including showing the command speed as well as whether the trigger mode is in a closed loop (automatic) feedback mode or in a manually selected mode. Screen 10506 provides transection feedback by displaying a graphic image of a staple cartridge from end actuator 10518 with a 10520 knife and rows of staples 10522. A graphic marker to the left 10524 indicates the distance 10528 the knife 10520 has traveled (for example, 10 mm) distally and a graphic marker on the right 10526 indicates the speed of knife 10520 as it travels distally where the current speed is circulated (for example, 3), where 1 is fast speed, 2 is medium and 3 is slow. The speed can be selected manually or automatically based on the condition of the fabric.
[0141] [0141] Figure 18 is a logic flow diagram of a 11000 process that represents a control program or a logical configuration for controlling a screen, according to one aspect of the present description. Reference is also made to Figures 14 and 16. Process 11000 represented in Figure 18 refers to the capacity of a user
[0142] [0142] Figures 19 and 20 show various views 11100 representing a user selection menu screen according to an aspect of the present description. During a surgical procedure, the information shown on screen 11100 can be communicated throughout the operating room for additional screens, such as, for example, a primary screen connected to a laparoscopic camera. Screen 11100 shows a graphic image of an end actuator clamp cartridge 11132. An alphanumeric character 11104 indicates the speed units, for example, mm / second. Screen 11100 comprises symbols from a selection menu 11102 to indicate the available speeds of the displacement member (for example, beam with i 2514 profile) during a firing stroke. In one of these aspects, the selection menu symbols 10602 can comprise four menu options 11112, 11114, 11116, 11118 in the form of circles. The format of the symbols in the selection menu 11102 does not have to be circular, as several formats are envisaged. The shape or shapes of the symbols in the selection menu 11102 can include, for example, a triangle or any other suitable geometric shape. A first menu option 11112 is indicative of an automatic mode of the surgical instrument 10500. The automatic mode is represented in the first menu option 11112 by a capital letter "A". The automatic mode can be represented in alternative ways, including, for example, the word "automatic" or the lower case letter "a". A second menu option 11114 is indicative of a slow mode of the surgical instrument 10500. The slow mode is represented in the second menu option 11114 by a single arrowhead circled. The slow mode can be represented in alternative ways, for example, by the word "slow" or by a numerical value indicating the speed of the travel member during the slow mode. A third menu option 11116 is indicative of an intermediate mode of the surgical instrument 10500. The intermediate mode is represented in the third menu option 11114 by two circled arrowheads. The intermediate mode can be represented in alternative ways, for example, by the word "intermediate" or by a numerical value indicative of the speed of the displacement member during the intermediate mode. A fourth menu option 11118 is indicative of a quick mode of the surgical instrument 10500. The quick mode is represented in the fourth menu option 11118 by three arrowheads in a circle. The fast mode can be represented in alternative ways, for example, by the word "fast" or by a numerical value indicating the speed of the displacement member during the fast mode. During a firing stroke, a status bar 11138 at the bottom of the screen 11100 indicates the operating status as normal (for example, green) or attention (for example, yellow). Since the displacement member is not yet being translated in Figures 19 and 20, the status bar 11138 is empty.
[0143] [0143] Figure 19 is representative of an aspect of a 11100 screen that presents itself to a user to choose the firing speed of a displacement member. To trigger the 2510 control circuit to display this 11100 screen, a user can close the claws of the end actuator (for example, 10504 in Figure 16). Without any user action, the 2504 engine operates in an automatic mode. In order to switch from automatic mode to manual mode, the surgeon can press a button, like the hinge switch 10510 shown in Figure 21, for a brief period of time. This brief period of time can last, for example, approximately two seconds. After this brief period of time, the control circuit causes the screen to show various information associated with selecting a trigger speed as part of an interactive selection menu shown in Figure 19. For example, the screen can show four menu options related to speed mode: automatic mode; slow mode; intermediate mode; and fast mode. Additionally or alternatively, the 11100 screen can be a touch screen, where the user can simply touch the screen to access the interactive selection menu.
[0144] [0144] When the user selects the automatic mode, the control circuit 2510 can control the output of the motor 2504 and, thus, the speed of the beam with i 2514 profile, or of the displacement member, in response to several conditions. When the user selects the slow mode, the control circuit 2510 decelerates the speed of the motor 2504. Reducing the output of the motor 2504 results in a slower translation of the beam with i 2514 profile and, thus, a lower firing speed. When the user selects the fast mode, the control circuit 2510 increases the speed of the motor 2504. Increasing the output of the motor 2504 results in a faster translation of the beam with i 2514 profile and, thus, a speed of fire faster. When the user wants a shooting speed that is between the shooting speed offered by the slow mode and the fast mode, the user can select the intermediate mode. In the intermediate mode, control circuit 2510 increases the speed of motor 2504 to a point that is greater than the speed of motor 2504 in slow mode, but less than the speed of motor 2504 in fast mode. The output of motor 2504 in intermediate mode results in an intermediate translation of the beam with an i 2514 profile and, therefore, an intermediate firing speed.
[0145] [0145] Figure 20 is representative of an aspect of screen 11100 during a user selection process. For example, as the user applies an F force on the 10510 hinge switch, the user is able to rotate through the various menu options 11112, 11114, 11116, 11118 related to the speed mode. The upward arrowhead 11150 located above hinge switch 10510 in Figure 21 indicates that if a user presses the upper half of hinge switch 10510 down, the user will switch to menu option 11112, 11114, 11116, 11118 above currently highlighted option. The menu options can be configured to be continuous, where scrolling in addition to the top option 11112 will result in the next highlighted option being the bottom option 11118 when hinge switch 10510 is pressed again. Alternatively, the user may not be able to scroll past the top or bottom menu options when they are reached. If the 11100 screen has the touch screen capabilities mentioned above, the user can simply tap on the menu options 11112, 11114, 11116, 11118 to highlight the desired speed mode instead of, or in combination with, the toggle switch 10510.
[0146] [0146] As the user executes the roll through the 11112, 11114, 11116, 11118 option menu, the menu options change sizes. For example, in Figure 20, the user selected the slow mode, since the second menu option 11124 has become larger. The reader will also recognize that the other three options for
[0147] [0147] Figure 22 shows a graph 11200 that indicates the various ways in which the menu options 11112, 11114, 11116, 11118 can be highlighted during the selection process discussed above. The menu option can be highlighted when the background of the menu option's circle switches between white and black tones
[0148] [0148] To configure and / or activate the highlighted menu option, the user can lightly touch the trigger. Alternatively, the user can wait a short period of time without any further user action, and the 2510 control circuit will automatically activate the highlighted menu option. When the menu option has been selected, the 2510 control circuit can cause the screen to switch to a speed feedback system to enable the user to monitor the speed of the trigger stroke during use.
[0149] [0149] Figures 23 to 25 illustrate a screen 11300 that represents several speed feedback displays, according to an aspect of this description. The 11300 screen shows a graphic image of a 11312 end actuator clamp cartridge. The 11300 screen comprises a speed indication 11302 to indicate the selected menu option, as well as the actual speed of the travel member (for example, beam with i 2514 profile) during the trip cycle. In one aspect, the speed indication 11302 comprises a shape or series of shapes that are filled or shaded proportionally to the speed, as shown in Figures 23 to 25. The shape or shapes of the speed indication 11302 can include, for example, an arc or any other suitable geometric shape. In one aspect, the speed indication 11302 may comprise an arcuate graph 11308 comprising multiple graduations 11310 to indicate the actual speed from 0 to 30 mm / s, for example, of the displacement member. The alphanumeric characters 11314 (0, 7, 12 and 30) are arranged around the perimeter of the arched graph 11308 to indicate the actual speed through a filled or shaded region 11316. Screen 11300 shown in Figure 23 is a slightly modified version -
[0150] [0150] In addition, the 11302 speed indication also includes a filled or shaded circle icon 11306 with one or more white arrows to indicate the control speed, so that, for example, an arrow refers to a speed low or slow, two arrows refer to medium speed and three arrows refer to high or fast speed. On the screens shown in Figures 23 to 25, the user manually selected the quick mode from the alternative user selection screen, as described above. An additional alphanumeric character 11304 indicates the speed units, for example, mm / second. As the speed of the displacement member increases or decreases, the shaded region 11316 correspondingly increases and decreases. The 11318 status bar at the bottom of the 11300 screen indicates the operating status as normal (for example, green) or attention (for example, yellow). In the examples shown in Figures 23 and 24, the status bar 11318 indicates normal operation. In the example shown in Figure 25, the status bar 11318 indicates an attention operation. In one aspect, the fill color or color hue of the speed regions 11316, 11316 ', 11316 "can be the same as the fill color or color hue of the 11318, 11318' status bars to indicate a mode of operation normal or attention.
[0151] [0151] As shown in Figure 23, the actual speed of the travel member is fast, approximately 20 mm / second, as indicated by the shaded region 11316. The command speed, or the selected menu option, is set to high as indicated by the three arrowheads in the circle icon 11306. At least for the reason that the control speed and the
[0152] [0152] The function or process 11000 described here can be performed by any of the processing circuits described here, such as control circuit 700 described in relation to Figures and 6, circuits 800, 810, 820 described in Figures 7 to 9, the microcontroller 1104 described in connection with Figures 10 and 12 and / or the control circuit 2510 described in Figure 14.
[0153] [0153] 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 instruments
[0154] [0154] In general, the aspects described here, which can be implemented, individually and / or collectively, through a wide range of hardware, software, firmware or any combination of these, can be seen as being composed of several types of "electrical circuits". Consequently, the term "electrical circuit" includes electrical circuits that have at least one electrical circuit isolated, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application. , electrical circuits that form a general-purpose computer device configured by a computer program (for example, a general-purpose computer or processor configured by a computer program that at least partially performs the processes and / or devices described herein, electrical circuits that form a memory device (for example, forms of random access memory) and / or electrical circuits that form a communications device (for example, a modem, routers or optical-electrical equipment These aspects can be implemented in analog or digital form or combinations of them.
[0155] [0155] 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) , 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 manner 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), 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 designing the circuit and / or writing the code for the software and / or firmware would be within the scope of practice of a person skilled in the art in the light of this description.
[0156] [0156] 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.).
[0157] [0157] The previously mentioned description of these aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form described. Modifications or variations are possible in the light of the above teachings. These aspects were chosen and described with the purpose of illustrating the principles and practical application to, thus, enable those skilled in the art to use the various aspects and with modifications as are convenient to the specific use contemplated. It is intended that the claims presented in the annex define the global scope.
[0158] [0158] Various aspects of the subject described in this document are defined in the following numbered examples:
[0159] [0159] Example 1. A surgical instrument, which comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the displacement member, where the motor is configured to translate the displacement member at a speed, and where the speed is defined by a speed mode; a monitor; and a control circuit coupled to the motor and the screen, in which the control circuit is configured to: cause the displacement member to travel over a first distance; determine a first period of time necessary
[0160] [0160] Example 2. The surgical instrument, according to Example 1, in which the control circuit is further configured to cause the screen to show a speed indication that is indicative of the speed of the displacement member.
[0161] [0161] Example 3. The surgical instrument, according to Example 1 to Example 2, in which the speed mode comprises an automatic mode, a slow mode, an intermediate mode and a fast mode.
[0162] [0162] Example 4. The surgical instrument, according to Example 3, in which the speed mode is set to automatic mode in the absence of user action.
[0163] [0163] Example 5. The surgical instrument, according to Example 1 to Example 4, in which the surgical instrument also includes a position sensor coupled to the control circuit.
[0164] [0164] Example 6. The surgical instrument, according to Example 5, in which the position sensor is configured to monitor the position of the displacement member.
[0165] [0165] Example 7. The surgical instrument, according to Example 5 to Example 6, in which the control circuit is further configured to determine the speed of the displacement member through the position sensor.
[0166] [0166] Example 8. A surgical instrument, comprising: a displacement member configured to move within the instrument
[0167] [0167] Example 9. The surgical instrument, according to Example 8, in which the control circuit is further configured to cause the screen to show a speed indication that is indicative of the speed of the displacement member.
[0168] [0168] Example 10. The surgical instrument, according to Example 9, in which the screen shows the symbols of the selection menu during a first period of time and the speed indication during a second period of time.
[0169] [0169] Example 11. Surgical instrument, according to Example 10, in which the first period of time is different from the second period of time.
[0170] [0170] Example 12. Surgical instrument, according to Example 10 to Example 11, where the first period of time is equal to the second period of time.
[0171] [0171] Example 13. The surgical instrument, according to
[0172] [0172] Example 14. The surgical instrument, according to Example 13, in which the speed mode is set to automatic mode by default.
[0173] [0173] Example 15. A method of operating a surgical instrument, in which the surgical instrument comprises a displacement member configured to move within the surgical instrument, a motor coupled to the displacement member to transfer the displacement member to a speed, a screen and a control circuit coupled to the motor and the screen, in which the method comprises: causing the displacement member to translate over a first distance through the control circuit; measure, by means of the control circuit, a first period of time necessary for the displacement member to translate over a first distance; present, through the control circuit, a symbol on the screen that is indicative of a speed mode for the displacement member, in which the displayed symbols are limited by the first distance and the first period of time; receive, through the control circuit, a user action that corresponds to the speed mode; and adjust, through the control circuit, the motor speed based on the user's action.
[0174] [0174] Example 16. The method, according to Example 15, which further comprises presenting, through the control circuit, a speed indication on the screen that is indicative of the speed of the displacement member.
[0175] [0175] Example 17. The method, according to Example 15 to Example 16, which further comprises presenting, through the control circuit, the speed mode on the screen, in which the speed mode
[0176] [0176] Example 18. The method, according to Example 16 to Example 17, which further comprises controlling, through the control circuit, the motor in automatic mode in the absence of a user action.
[0177] [0177] Example 19. The method, according to Example 16 up to Example 18, which further comprises presenting, through the control circuit, the speed mode on the screen adjusted to the automatic mode in the absence of an action of user.
[0178] [0178] Example 20. The method, according to Example 15 to Example 19, which further comprises monitoring, through the control circuit, the speed of the displacement member.

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, where the motor is configured to move the displacement member at a speed, and where the speed is defined by a speed mode; a monitor; and a control circuit coupled to the motor and the screen, in which the control circuit is configured to: cause the displacement member to travel over a first distance; determining a first period of time necessary for the displacement member to travel along the first distance; cause the screen to show symbols of a selection menu that are indicative of the speed mode, in which the displayed selection menu symbols are limited by the first distance and the first period of time; receive an action from the user corresponding to the speed mode; and adjust the engine speed based on the user's action.
[2]
2. Surgical instrument, according to claim 1, characterized by the fact that the control circuit is still configured to cause the screen to show a speed indication that is indicative of the speed of the displacement member.
[3]
3. Surgical instrument, according to claim 1,
characterized by the fact that the speed mode comprises an automatic mode, a slow mode, an intermediate mode and a fast mode.
[4]
4. Surgical instrument, according to claim 3, characterized by the fact that the speed mode is set to automatic mode in the absence of user action.
[5]
5. Surgical instrument, according to claim 1, characterized by the fact that the surgical instrument also comprises a position sensor coupled to the control circuit.
[6]
6. Surgical instrument, according to claim 5, characterized by the fact that the position sensor is configured to monitor the position of the displacement member.
[7]
7. Surgical instrument, according to claim 5, characterized by the fact that the control circuit is still configured to determine the speed of the displacement member through the position sensor.
[8]
8. Surgical instrument, characterized by the fact that it comprises: a displacement member configured to move within the surgical instrument; a motor coupled to the travel member, where the motor is configured to move the travel member at a speed, where the speed is defined by a speed mode; a monitor; and a control circuit coupled to the motor and the screen, in which the control circuit is configured to: cause the displacement member to travel over a first distance; determining a first period of time necessary for the displacement member to travel along the first distance; receive a first user action; cause the screen to display symbols of a selection menu that are indicative of the speed mode in response to the user's first action, in which the displayed menu symbols are limited by the first distance and the first period of time; receive a second user action corresponding to the speed mode; and adjust the engine speed based on the user's second action.
[9]
9. Surgical instrument, according to claim 8, characterized by the fact that the control circuit is still configured to cause the screen to show a speed indication that is indicative of the speed of the displacement member.
[10]
10. Surgical instrument, according to claim 9, characterized by the fact that the screen shows the symbols of the selection menu during a first period of time and the speed indication during a second period of time.
[11]
11. Surgical instrument, according to claim 10, characterized by the fact that the first period of time is different from the second period of time.
[12]
12. Surgical instrument, according to claim 10, characterized by the fact that the first period of time is the same as the second period of time.
[13]
13. Surgical instrument according to claim 8, characterized by the fact that the speed mode comprises an automatic mode, a slow mode, an intermediate mode and a fast mode.
[14]
14. Surgical instrument, according to claim
13, characterized by the fact that the speed mode is set to automatic mode by default.
[15]
15. Method of operation of a surgical instrument, in which the surgical instrument comprises a displacement member configured to transfer within the surgical instrument, a motor coupled to the displacement member to transfer a displacement member at a speed, a screen and a circuit of control coupled to the motor and the screen, in which the method is characterized by the fact that it comprises: causing, by means of the control circuit, the displacement member translates over a first distance; measure, by means of the control circuit, a first period of time necessary for the displacement member to translate over a first distance; present, through the control circuit, a symbol on the screen that is indicative of a speed mode for the displacement member, in which the displayed symbols are limited by the first distance and the first period of time; receive, through the control circuit, a user action that corresponds to the speed mode; and adjust, through the control circuit, the motor speed based on the user's action.
[16]
16. Method, according to claim 15, characterized by the fact that it also comprises displaying, through the control circuit, a speed indication on the screen that is indicative of the speed of the displacement member.
[17]
17. Method, according to claim 15, characterized by the fact that it also comprises, through the control circuit, the speed mode on the screen, in which the speed mode comprises an automatic mode, a slow mode, an integrated mode
termediate and a quick way.
[18]
18. Method, according to claim 16, characterized by the fact that it also comprises controlling, through the control circuit, the motor in automatic mode in the absence of user action.
[19]
19. Method, according to claim 16, characterized by the fact that it also comprises, through the control circuit, the speed mode on the screen adjusted to the automatic mode in the absence of a user action.
[20]
20. Method, according to claim 15, characterized by the fact that it also includes monitoring, through the control circuit, the speed of the displacement member.

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同族专利:

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公开号 | 公开日

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US20180360448A1|2018-12-20|

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US10779820B2|2020-09-22|

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EP3417793B1|2021-12-22|

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JP2020524055A|2020-08-13|

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WO2018234894A1|2018-12-27|

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EP3417793A1|2018-12-26|

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CN110769756A|2020-02-07|

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US20210052271A1|2021-02-25|

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US11259803B2|2019-06-28|2022-03-01|Cilag Gmbh International|Surgical stapling system having an information encryption protocol|

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US11051807B2|2019-06-28|2021-07-06|Cilag Gmbh International|Packaging assembly including a particulate trap|

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

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

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

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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US15/628,077|US10779820B2|2017-06-20|2017-06-20|Systems and methods for controlling motor speed according to user input for a surgical instrument|

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US15/628,077|2017-06-20|

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PCT/IB2018/053497|WO2018234894A1|2017-06-20|2018-05-17|Systems and methods for controlling motor speed according to user input for a surgical instrument|

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